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Small change and comment, removed debug output 

git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/trunk@20412 898a188c-9671-0410-8e00-e3fd810bbb7f
release/4.3a0
Frank Dellaert 2013-12-20 21:00:52 +00:00 committed by Richard Roberts
parent 6cede01c79
commit 41859a41a3
1 changed files with 2 additions and 4 deletions
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6
gtsam/geometry/EssentialMatrix.h
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@ -126,11 +126,9 @@ public:
// DE returned by pose.transform_to is 3*6, but we need it to be 3*5
// The last 3 columns are derivative with respect to change in translation
// The derivative of translation with respect to a 2D sphere delta is 3*2 aTb_.basis()
// Duy made an educated guess that this needs to be rotated to the local frame
Matrix H(3, 5);
std::cout << *DE << std::endl << std::endl;
std::cout << aTb_.basis() << std::endl << std::endl;
H << DE->block < 3, 3 > (0, 0), -aRb_.inverse().matrix() * aTb_.basis();
std::cout << H << std::endl << std::endl;
H << DE->block < 3, 3 > (0, 0), -aRb_.transpose() * aTb_.basis();
*DE = H;
}
return q;