From 30693d0246b60c4a7cd77480870706c4e2ac4412 Mon Sep 17 00:00:00 2001 From: anhnv3991 Date: Tue, 19 Mar 2024 10:44:10 +0700 Subject: [PATCH] Fixed build error Signed-off-by: anhnv3991 --- include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp b/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp index 089474d1..54d56e88 100644 --- a/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp +++ b/include/multigrid_pclomp/multigrid_ndt_omp_impl.hpp @@ -541,11 +541,11 @@ double MultiGridNormalDistributionsTransform::updateDe c_inv4.topLeftCorner(3, 3) = c_inv; // e^(-d_2/2 * (x_k - mu_k)^T Sigma_k^-1 (x_k - mu_k)) Equation 6.9 [Magnusson 2009] - double e_x_cov_x = exp(-gauss_d2 * x_trans4.dot(x_trans4 * c_inv4) * 0.5f); + double e_x_cov_x = exp(-gauss_d2_ * x_trans4.dot(x_trans4 * c_inv4) * 0.5f); // Calculate probability of transformed points existence, Equation 6.9 [Magnusson 2009] double score_inc = -gauss_d1_ * e_x_cov_x; - e_x_cov_x = gauss_d2 * e_x_cov_x; + e_x_cov_x = gauss_d2_ * e_x_cov_x; // Error checking for invalid values. if(e_x_cov_x > 1 || e_x_cov_x < 0 || e_x_cov_x != e_x_cov_x) return (0); @@ -570,7 +570,7 @@ double MultiGridNormalDistributionsTransform::updateDe for(int j = 0; j < hessian.cols(); j++) { // Update hessian, Equation 6.13 [Magnusson 2009] - hessian(i, j) += e_x_cov_x * (-gauss_d2 * x_trans4_dot_c_inv4_x_point_gradient4(i) * x_trans4_dot_c_inv4_x_point_gradient4(j) + x_trans4_dot_c_inv4_x_ext_point_hessian_4ij(j) + point_gradient4_colj_dot_c_inv4_x_point_gradient4_col_i(j, i)); + hessian(i, j) += e_x_cov_x * (-gauss_d2_ * x_trans4_dot_c_inv4_x_point_gradient4(i) * x_trans4_dot_c_inv4_x_point_gradient4(j) + x_trans4_dot_c_inv4_x_ext_point_hessian_4ij(j) + point_gradient4_colj_dot_c_inv4_x_point_gradient4_col_i(j, i)); } } }