From 0f83739670ccf86bf85b4e9fc21b92e996352aca Mon Sep 17 00:00:00 2001 From: Martin Miller Date: Sun, 9 Apr 2017 13:59:52 -0500 Subject: MONO handling in State was missing Hy! --- src/state.cpp | 1 + 1 file changed, 1 insertion(+) (limited to 'src/state.cpp') 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 &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: -- cgit v1.1