comment

2015-03-04 19:28:24 -08:00 · 2015-03-04 19:28:24 -08:00 · 000d14c09a
parent f2a5e5c683
commit 000d14c09a
1 changed files with 1 additions and 0 deletions
--- a/gtsam/geometry/PinholePose.h
+++ b/gtsam/geometry/PinholePose.h
@ -136,6 +136,7 @@ public:
    Matrix3 Dpc_rot, Dpc_point;
    const Point3 pc = this->pose().rotation().unrotate(pw, Dpc_rot, Dpc_point);

+    // only rotation is important
    Matrix36 Dpc_pose;
    Dpc_pose.setZero();
    Dpc_pose.leftCols<3>() = Dpc_rot;