From f54b078447284a7d436fdc9d8489dd85b81eaaf7 Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Mon, 31 Dec 2018 11:06:32 -0500
Subject: [PATCH] Fixed retract for SBA

---
 matlab/gtsam_examples/SBAExample.m | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/matlab/gtsam_examples/SBAExample.m b/matlab/gtsam_examples/SBAExample.m
index b0f754044..7f50f2db8 100644
--- a/matlab/gtsam_examples/SBAExample.m
+++ b/matlab/gtsam_examples/SBAExample.m
@@ -64,7 +64,7 @@ for i=1:size(truth.cameras,2)
     initialEstimate.insert(symbol('c',i), camera_i);
 end
 for j=1:size(truth.points,2)
-    point_j = truth.points{j}.retract(0.1*randn(3,1));
+    point_j = Point3(truth.points{j}.vector() + 0.1*randn(3,1));
     initialEstimate.insert(symbol('p',j), point_j);
 end
 initialEstimate.print(sprintf('\nInitial estimate:\n  '));