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fixed some typos in jacobian

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This commit is contained in:
Raphael Maenle 2019-04-30 18:25:05 +02:00
parent cf40ce8afb
commit acbcf79417
1 changed files with 1 additions and 1 deletions
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src/msckf_vio.cpp
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@ -1047,7 +1047,7 @@ void MsckfVio::PhotometricMeasurementJacobian(
//d{}^Gp_P{ij} / \rho_i //d{}^Gp_P{ij} / \rho_i
double rho = feature.anchor_rho; double rho = feature.anchor_rho;
dGpi_drhoj = feature.T_anchor_w.linear() * Eigen::Vector3d(-feature.anchorPatch_ideal[count].x/(rho*rho), -feature.anchorPatch_ideal[count].y/(rho*rho), 1/(rho*rho)); dGpi_drhoj = feature.T_anchor_w.linear() * Eigen::Vector3d(-feature.anchorPatch_ideal[count].x/(rho*rho), -feature.anchorPatch_ideal[count].y/(rho*rho), -1/(rho*rho));
dGpi_XpAj.block<3, 3>(0, 0) = skewSymmetric(Eigen::Vector3d(feature.anchorPatch_ideal[count].x/(rho), feature.anchorPatch_ideal[count].y/(rho), 1/(rho))); dGpi_XpAj.block<3, 3>(0, 0) = skewSymmetric(Eigen::Vector3d(feature.anchorPatch_ideal[count].x/(rho), feature.anchorPatch_ideal[count].y/(rho), 1/(rho)));
dGpi_XpAj.block<3, 3>(0, 3) = Matrix<double, 3, 3>::Identity(); dGpi_XpAj.block<3, 3>(0, 3) = Matrix<double, 3, 3>::Identity();