From 58ec261cd7ef1495bdaf7e953255f06a8cd65663 Mon Sep 17 00:00:00 2001 From: alexma3312 Date: Sun, 16 Aug 2020 13:00:27 -0400 Subject: [PATCH] Fix GTSAM_TYPEDEF_POINTS_TO_VECTORS. --- gtsam_unstable/geometry/Similarity3.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam_unstable/geometry/Similarity3.cpp b/gtsam_unstable/geometry/Similarity3.cpp index 4a330b15b..859db1c4a 100644 --- a/gtsam_unstable/geometry/Similarity3.cpp +++ b/gtsam_unstable/geometry/Similarity3.cpp @@ -87,7 +87,7 @@ Point3 Similarity3::transformFrom(const Point3& p, // Pose3 Similarity3::transformFrom(const Pose3& T) const { Rot3 R = R_.compose(T.rotation()); - Point3 t = Point3(s_ * (R_.matrix() * T.translation().vector() + t_.vector())); + Point3 t = Point3(s_ * (R_ * T.translation() + t_)); return Pose3(R, t); }