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Merge pull request #459 from Alexma3312/fix/pose2-align 

Fix pose2 align bug.
release/4.3a0
Varun Agrawal 2020-08-11 14:25:37 -04:00 committed by GitHub
parent ac0150ba5d ccdd1471ed
commit 13bdc9a7df
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1 changed files with 4 additions and 4 deletions
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6
gtsam/geometry/Pose2.cpp
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@ -322,10 +322,10 @@ boost::optional<Pose2> align(const vector<Point2Pair>& pairs) {
// calculate cos and sin
double c=0,s=0;
for(const Point2Pair& pair: pairs) {
Point2 dq = pair.first - cp;
Point2 dp = pair.second - cq;
Point2 dp = pair.first - cp;
Point2 dq = pair.second - cq;
c += dp.x() * dq.x() + dp.y() * dq.y();
s += dp.y() * dq.x() - dp.x() * dq.y(); // this works but is negative from formula above !! :-(
s += -dp.y() * dq.x() + dp.x() * dq.y();
}
// calculate angle and translation