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changed eye() to Identity()

release/4.3a0
nsrinivasan7 2014-11-29 16:54:21 -05:00
parent 296de69411
commit 7216417017
1 changed files with 2 additions and 2 deletions
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4
gtsam/geometry/Cal3_S2.h
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@ -169,8 +169,8 @@ public:
inline Cal3_S2 between(const Cal3_S2& q,
OptionalJacobian<5,5> H1=boost::none,
OptionalJacobian<5,5> H2=boost::none) const {
if(H1) *H1 = -eye(5);
if(H2) *H2 = eye(5);
if(H1) *H1 = -Matrix5::Identity();
if(H2) *H2 = Matrix5::Identity();
return Cal3_S2(q.fx_-fx_, q.fy_-fy_, q.s_-s_, q.u0_-u0_, q.v0_-v0_);
}