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comment is simpler

release/4.3a0
kartik arcot 2023-01-20 18:32:17 -08:00
parent cccad07849
commit dc25a78f76
1 changed files with 2 additions and 4 deletions
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6
gtsam/slam/EssentialMatrixFactor.h
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@ -304,10 +304,8 @@ class EssentialMatrixFactor3 : public EssentialMatrixFactor2 {
// Version with derivatives // Version with derivatives
Matrix D_e_cameraE, D_cameraE_E; // 2*5, 5*5 Matrix D_e_cameraE, D_cameraE_E; // 2*5, 5*5
EssentialMatrix cameraE = E.rotate(cRb_, D_cameraE_E); EssentialMatrix cameraE = E.rotate(cRb_, D_cameraE_E);
// Had to do this since the only overloaded function EssentialMatrixFactor2 // Using the pointer version of evaluateError since the Base class (EssentialMatrixFactor2)
// uses the type OptionalMatrixType. Which would be a pointer when we are // does not have the matrix reference version of evaluateError
// 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)
Vector e = Base::evaluateError(cameraE, d, &D_e_cameraE, Dd); Vector e = Base::evaluateError(cameraE, d, &D_e_cameraE, Dd);
*DE = D_e_cameraE * D_cameraE_E; // (2*5) * (5*5) *DE = D_e_cameraE * D_cameraE_E; // (2*5) * (5*5)
return e; return e;