Merge pull request #697 from JuliaRobotics/23Q3/fix/GenericProj

Bugfix GenericProjection
JuliaRobotics · Aug 16, 2023 · 4d6c466 · 4d6c466
2 parents cb3fa03 + 61e2f3e
commit 4d6c466
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/ext/RoMECameraModelsExt.jl b/ext/RoMECameraModelsExt.jl
@@ -48,7 +48,7 @@ function (cf::CalcFactor{<:GenericProjection{S,T}})(
   # κ*(abs(pred.depth) - pred.depth)^2 + (c_X[1]-pred[1])^2 + (c_X[2]-pred[2])^2
 
   frontPenalty = κ*(abs(pred.depth) - pred.depth)^2
-  res = SVector{3,Float64}(
+  res = SVector{2,Float64}(
     frontPenalty + (c_X[1]-pred[1]),
     frontPenalty + (c_X[2]-pred[2]),
   )