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between factor in Cal3_S2

release/4.3a0
nsrinivasan7 2014-11-29 15:42:21 -05:00
parent 708a3d69e8
commit b4ee5e1105
1 changed files with 2 additions and 2 deletions
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4
gtsam/geometry/Cal3_S2.h
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@ -167,8 +167,8 @@ public:
/// "Between", subtracts calibrations. between(p,q) == compose(inverse(p),q)
inline Cal3_S2 between(const Cal3_S2& q,
boost::optional<Matrix&> H1=boost::none,
boost::optional<Matrix&> H2=boost::none) const {
OptionalJacobian<5,5> H1=boost::none,
OptionalJacobian<5,5> H2=boost::none) const {
if(H1) *H1 = -eye(5);
if(H2) *H2 = eye(5);
return Cal3_S2(q.fx_-fx_, q.fy_-fy_, q.s_-s_, q.u0_-u0_, q.v0_-v0_);