From 4d079e19054fc614b4428fb32f06d2bd607be42b Mon Sep 17 00:00:00 2001
From: John Lambert <johnwl@stanford.edu>
Date: Fri, 5 Mar 2021 14:17:00 -0500
Subject: [PATCH] fix notations

---
 gtsam/geometry/Similarity3.cpp | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/gtsam/geometry/Similarity3.cpp b/gtsam/geometry/Similarity3.cpp
index 4e8d6e6b7..b69cfa991 100644
--- a/gtsam/geometry/Similarity3.cpp
+++ b/gtsam/geometry/Similarity3.cpp
@@ -177,10 +177,10 @@ Similarity3 Similarity3::Align(const vector<Pose3Pair> &abPosePairs) {
   Point3Pairs abPointPairs;
   rotations.reserve(n);
   abPointPairs.reserve(n);
-  Pose3 wTa, wTb;
+  Pose3 aTi, bTi;
   for (const Pose3Pair &abPair : abPosePairs) {
-    std::tie(wTa, wTb) = abPair;
-    Rot3 aRb = wTa.rotation().between(wTb.rotation());
+    std::tie(aTi, bTi) = abPair;
+    Rot3 aRb = aTi.rotation().compose(bTi.rotation().inverse());
     rotations.emplace_back(aRb);
     abPointPairs.emplace_back(wTa.translation(), wTb.translation());
   }