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| author | Martin Miller | 2017-04-09 13:59:52 -0500 |
|---|---|---|
| committer | Martin Miller | 2017-04-09 13:59:52 -0500 |
| commit | 0f83739670ccf86bf85b4e9fc21b92e996352aca (patch) | |
| tree | e8c9a10b35620d8781846c80df0f682f70c9095b /src/state.cpp | |
| parent | e5c3b5117c2f3936967319223e353ac6c7a0b1ca (diff) | |
| download | refslam-0f83739670ccf86bf85b4e9fc21b92e996352aca.zip refslam-0f83739670ccf86bf85b4e9fc21b92e996352aca.tar.gz | |
MONO handling in State was missing Hy!
Diffstat (limited to 'src/state.cpp')
| -rw-r--r-- | src/state.cpp | 1 |
1 files changed, 1 insertions, 0 deletions
diff --git a/src/state.cpp b/src/state.cpp index 5a334c5..05c3b30 100644 --- a/src/state.cpp +++ b/src/state.cpp @@ -91,6 +91,7 @@ State::H ( const Quaterniond &q, const vector<measurement_t> &z ) } fi = featureById( z[i].id ); h.block<4,STATESIZE>(row,0) = fi->Hx(pos,q).block<4,STATESIZE>(0,0); + h.block<4,3>(row,col) = fi->Hy(pos,q).block<4,3>(0,0); break; case HEIGHT: |