optionaljacobian initialization with eigen mat
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fd0c0c626f
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e9cd6ea238
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@ -8,7 +8,8 @@ Line3 Line3::retract(const Vector4 &v, OptionalJacobian<4, 4> H) const {
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w << v[0], v[1], 0;
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Rot3 eps;
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if (H) {
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OptionalJacobian<3, 3> Dw;
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Eigen::Matrix3d Dw_mat = Eigen::Matrix3d::Zero();
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OptionalJacobian<3, 3> Dw(Dw_mat);
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Dw->setZero();
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eps = Rot3::Expmap(w, Dw);
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H->block<2, 2>(0, 0) = Dw->block<2, 2>(0, 0);
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@ -25,7 +26,8 @@ Vector4 Line3::localCoordinates(const Line3 &q, OptionalJacobian<4, 4> H) const
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Vector3 local_rot;
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Vector4 local;
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if (H) {
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OptionalJacobian<3, 3> Dw;
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Eigen::Matrix3d Dw_mat = Eigen::Matrix3d::Zero();
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OptionalJacobian<3, 3> Dw(Dw_mat);
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Dw->setZero();
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local_rot = Rot3::Logmap(R_.inverse() * q.R_, Dw);
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H->block<2, 2>(0, 0) = Dw->block<2, 2>(0, 0);
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