From 41859a41a31669cb1fa50ccd542bec6d184a91d7 Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Fri, 20 Dec 2013 21:00:52 +0000 Subject: [PATCH] Small change and comment, removed debug output git-svn-id: https://svn.cc.gatech.edu/borg/gtsam/trunk@20412 898a188c-9671-0410-8e00-e3fd810bbb7f --- gtsam/geometry/EssentialMatrix.h | 6 ++---- 1 file changed, 2 insertions(+), 4 deletions(-) diff --git a/gtsam/geometry/EssentialMatrix.h b/gtsam/geometry/EssentialMatrix.h index c5436b554..991d8c922 100644 --- a/gtsam/geometry/EssentialMatrix.h +++ b/gtsam/geometry/EssentialMatrix.h @@ -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;