raphael/msckf_vio
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Merge branch 'photometry-jakobi-htest' of https://gitlab.com/Hippocampus/msckf into photometry-jakobi-htest

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Raphael Maenle 2019-06-25 12:08:41 +02:00
commit 0712a98c7f
1 changed files with 3 additions and 3 deletions
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src/msckf_vio.cpp
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@ -1293,9 +1293,9 @@ void MsckfVio::PhotometricMeasurementJacobian(
dGpj_XpAj.block<3, 3>(0, 3) = Matrix<double, 3, 3>::Identity(); dGpj_XpAj.block<3, 3>(0, 3) = Matrix<double, 3, 3>::Identity();
// Intermediate Jakobians // Intermediate Jakobians
H_rho = dh_dGpij * dGpj_drhoj; // 1 x 1 H_rho = dh_dGpij * dGpj_drhoj; // 2 x 1
H_plj = dh_dXplj; // 1 x 6 H_plj = dh_dXplj; // 2 x 6
H_pAj = dh_dGpij * dGpj_XpAj; // 1 x 6 H_pAj = dh_dGpij * dGpj_XpAj; // 2 x 6
// calculate residual // calculate residual