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Fixed sign in SVD

release/4.3a0
dellaert 2015-03-11 16:51:24 -07:00
parent 3558da9c4c
commit f06c84b503
1 changed files with 1 additions and 1 deletions
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2
gtsam/slam/JacobianFactorSVD.h
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@ -65,7 +65,7 @@ public:
KeyMatrix(key, KeyMatrix(key,
(Enull.transpose()).block(0, ZDim * k, m2, ZDim) * Fblocks[k])); (Enull.transpose()).block(0, ZDim * k, m2, ZDim) * Fblocks[k]));
} }
JacobianFactor::fillTerms(QF, -Enull.transpose() * b, model); JacobianFactor::fillTerms(QF, Enull.transpose() * b, model);
} }
}; };