comment is simpler
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@ -304,10 +304,8 @@ class EssentialMatrixFactor3 : public EssentialMatrixFactor2 {
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// Version with derivatives
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Matrix D_e_cameraE, D_cameraE_E; // 2*5, 5*5
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EssentialMatrix cameraE = E.rotate(cRb_, D_cameraE_E);
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// Had to do this since the only overloaded function EssentialMatrixFactor2
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// uses the type OptionalMatrixType. Which would be a pointer when we are
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// not using boost. There is no way to redirect that call to the top (NoiseModelFactorN)
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// dereference it and bring it back to the Base (EssentialMatrixFactor2)
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// Using the pointer version of evaluateError since the Base class (EssentialMatrixFactor2)
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// does not have the matrix reference version of evaluateError
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Vector e = Base::evaluateError(cameraE, d, &D_e_cameraE, Dd);
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*DE = D_e_cameraE * D_cameraE_E; // (2*5) * (5*5)
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return e;
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