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Fix bug in refactor

release/4.3a0
Frank Dellaert 2025-04-20 09:16:19 -04:00
parent 795782d449
commit dd6b70e08c
1 changed files with 2 additions and 2 deletions
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gtsam/geometry/SO3.cpp
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@ -333,7 +333,7 @@ Vector3 SO3::Logmap(const SO3& Q, ChartJacobian H) {
omega = omegaFromQ(R21 - R12, sqrt(Q1), R31 + R13, R23 + R32, Q1); omega = omegaFromQ(R21 - R12, sqrt(Q1), R31 + R13, R23 + R32, Q1);
} else if (R22 > R11) { // R22 is the largest diagonal, a=2, b=3, c=1 } else if (R22 > R11) { // R22 is the largest diagonal, a=2, b=3, c=1
const double Q1 = 2.0 + 2.0 * R22; const double Q1 = 2.0 + 2.0 * R22;
omega = omegaFromQ(R13 - R31, sqrt(Q1), R23 + R32, Q1, R12 + R21); omega = omegaFromQ(R13 - R31, sqrt(Q1), R12 + R21, Q1, R23 + R32);
} else { // R11 is the largest diagonal, a=1, b=2, c=3 } else { // R11 is the largest diagonal, a=1, b=2, c=3
const double Q1 = 2.0 + 2.0 * R11; const double Q1 = 2.0 + 2.0 * R11;
omega = omegaFromQ(R32 - R23, sqrt(Q1), Q1, R12 + R21, R31 + R13); omega = omegaFromQ(R32 - R23, sqrt(Q1), Q1, R12 + R21, R31 + R13);
@ -341,7 +341,7 @@ Vector3 SO3::Logmap(const SO3& Q, ChartJacobian H) {
} else { } else {
double magnitude; double magnitude;
const double tr_3 = tr - 3.0; // could be non-negative if the matrix is off orthogonal const double tr_3 = tr - 3.0; // could be non-negative if the matrix is off orthogonal
if (tr_3 < -so3::kNearPiThresholdSq) { if (tr_3 < -so3::kNearZeroThresholdSq) {
// this is the normal case -1 < trace < 3 // this is the normal case -1 < trace < 3
double theta = acos((tr - 1.0) / 2.0); double theta = acos((tr - 1.0) / 2.0);
magnitude = theta / (2.0 * sin(theta)); magnitude = theta / (2.0 * sin(theta));