From dc29b94830b66e84c12b738e33d8e993bc507ec6 Mon Sep 17 00:00:00 2001
From: gfuse <majidgeravand68@gmail.com>
Date: Wed, 18 Aug 2021 08:45:04 +0200
Subject: [PATCH] errors kernel

---
 GPU_version/vio/src/sparse_img_align_gpu.cpp | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

diff --git a/GPU_version/vio/src/sparse_img_align_gpu.cpp b/GPU_version/vio/src/sparse_img_align_gpu.cpp
index 4510998..dd4b8f6 100644
--- a/GPU_version/vio/src/sparse_img_align_gpu.cpp
+++ b/GPU_version/vio/src/sparse_img_align_gpu.cpp
@@ -128,7 +128,9 @@ int SparseImgAlignGpu::solve()
         J[0].y -= J[i].y;
         J[0].z -= J[i].z;
     }
-    x_ = Eigen::Matrix<double,3,3>(H).ldlt().solve(Eigen::Vector3d(J[0].x,J[0].y,J[0].z));
+    double Hd[9]={};
+    double Jd[3]={};
+    x_ = Eigen::Matrix<double,3,3>(Hd).ldlt().solve(Eigen::Vector3d(Jd[0],Jd[1],Jd[2]));
     if((bool) std::isnan((double) x_[0]))
         return 0;
     return 1;