From f06c84b503481d2c8d497a1375d92ff5629b98b5 Mon Sep 17 00:00:00 2001 From: dellaert Date: Wed, 11 Mar 2015 16:51:24 -0700 Subject: [PATCH] Fixed sign in SVD --- gtsam/slam/JacobianFactorSVD.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/slam/JacobianFactorSVD.h b/gtsam/slam/JacobianFactorSVD.h index aac946901..86636c38f 100644 --- a/gtsam/slam/JacobianFactorSVD.h +++ b/gtsam/slam/JacobianFactorSVD.h @@ -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); } };