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Fixed retract for SBA

release/4.3a0
Frank Dellaert 2018-12-31 11:06:32 -05:00
parent e1e8de7ced
commit f54b078447
1 changed files with 1 additions and 1 deletions
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2
matlab/gtsam_examples/SBAExample.m
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@ -64,7 +64,7 @@ for i=1:size(truth.cameras,2)
initialEstimate.insert(symbol('c',i), camera_i); initialEstimate.insert(symbol('c',i), camera_i);
end end
for j=1:size(truth.points,2) 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); initialEstimate.insert(symbol('p',j), point_j);
end end
initialEstimate.print(sprintf('\nInitial estimate:\n ')); initialEstimate.print(sprintf('\nInitial estimate:\n '));