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Emphasize Rdb is a vector.

release/4.3a0
alexma3312 2020-09-26 12:05:17 -04:00
parent ffd0d5e6b9
commit 933565c045
1 changed files with 3 additions and 3 deletions
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6
gtsam_unstable/geometry/Similarity3.cpp
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@ -43,9 +43,9 @@ namespace{
Point3 da, db;
for (const Point3Pair& d_abPair : d_abPointPairs) {
std::tie(da, db) = d_abPair;
Vector3 Rdb = aRb * db;
y += da.transpose() * Rdb;
x += Rdb.transpose() * Rdb;
const Vector3 da_prime = aRb * db;
y += da.transpose() * da_prime;
x += da_prime.transpose() * da_prime;
}
const double s = y / x;
return s;