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

2019-06-25 12:08:41 +02:00
parent 6b8dce9876 3e480560e8
commit 0712a98c7f
1 changed files with 3 additions and 3 deletions
--- a/src/msckf_vio.cpp
+++ b/src/msckf_vio.cpp
@@ -1293,9 +1293,9 @@ void MsckfVio::PhotometricMeasurementJacobian(
  dGpj_XpAj.block<3, 3>(0, 3) = Matrix<double, 3, 3>::Identity();

  // Intermediate Jakobians
-  H_rho = dh_dGpij * dGpj_drhoj; // 1 x 1
-  H_plj = dh_dXplj; // 1 x 6
-  H_pAj = dh_dGpij * dGpj_XpAj; // 1 x 6
+  H_rho = dh_dGpij * dGpj_drhoj; // 2 x 1
+  H_plj = dh_dXplj; // 2 x 6
+  H_pAj = dh_dGpij * dGpj_XpAj; // 2 x 6

  // calculate residual