From 5eb9a4d182e32bd6152d5c80e8143a7d2178102b Mon Sep 17 00:00:00 2001 From: Frank Dellaert Date: Sat, 29 Aug 2009 04:10:52 +0000 Subject: [PATCH] More efficient transform_to using unrotate --- cpp/Pose3.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/cpp/Pose3.cpp b/cpp/Pose3.cpp index f791cad09..4e40b1923 100644 --- a/cpp/Pose3.cpp +++ b/cpp/Pose3.cpp @@ -33,8 +33,8 @@ Matrix Dtransform_from2(const Pose3& pose) { /* ************************************************************************* */ Point3 transform_to(const Pose3& pose, const Point3& p) { - Point3 sub = p - pose.translation(); - Point3 r = rotate(pose.rotation().inverse(), sub); + Point3 sub = p - pose.t_; + Point3 r = unrotate(pose.R_, sub); return r; } /* ************************************************************************* */