Fixed sign in SVD
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				|  | @ -65,7 +65,7 @@ public: | |||
|           KeyMatrix(key, | ||||
|               (Enull.transpose()).block(0, ZDim * k, m2, ZDim) * Fblocks[k])); | ||||
|     } | ||||
|     JacobianFactor::fillTerms(QF, -Enull.transpose() * b, model); | ||||
|     JacobianFactor::fillTerms(QF, Enull.transpose() * b, model); | ||||
|   } | ||||
| }; | ||||
| 
 | ||||
|  |  | |||
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