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change 2 to ZDim

release/4.3a0
cbeall3 2015-07-15 16:52:06 -04:00
parent fb4dd81c4d
commit 9c2ab0ce3b
1 changed files with 1 additions and 1 deletions
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2
gtsam/geometry/CameraSet.h
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@ -161,7 +161,7 @@ public:
for (size_t i = 0; i < m; i++) { // for each camera for (size_t i = 0; i < m; i++) { // for each camera
const MatrixZD& Fi = Fs[i]; const MatrixZD& Fi = Fs[i];
const Eigen::Matrix<double, 2, N> Ei_P = // const Eigen::Matrix<double, ZDim, N> Ei_P = //
E.block(ZDim * i, 0, ZDim, N) * P; E.block(ZDim * i, 0, ZDim, N) * P;
// D = (Dx2) * ZDim // D = (Dx2) * ZDim