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