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mobile_robotics
wolf_projects
wolf_lib
plugins
vision
Commits
118e9d82
Commit
118e9d82
authored
Apr 24, 2022
by
Joan Solà Ortega
Browse files
Use Eigen::Map
parent
85aceb6e
Changes
1
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Side-by-side
include/vision/factor/factor_pixel_hp.h
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118e9d82
...
...
@@ -131,10 +131,10 @@ inline void FactorPixelHp::expectation(const T* const _frame_p,
using
namespace
Eigen
;
// frames w: world; r: robot; c: camera
Matrix
<
T
,
3
,
1
>
p_wr
(
_frame_p
);
Quaternion
<
T
>
q_wr
(
_frame_o
);
Matrix
<
T
,
3
,
1
>
p_rc
(
_sensor_p
);
Quaternion
<
T
>
q_rc
(
_sensor_o
);
Map
<
const
Matrix
<
T
,
3
,
1
>
>
p_wr
(
_frame_p
);
Map
<
const
Quaternion
<
T
>
>
q_wr
(
_frame_o
);
Map
<
const
Matrix
<
T
,
3
,
1
>
>
p_rc
(
_sensor_p
);
Map
<
const
Quaternion
<
T
>
>
q_rc
(
_sensor_o
);
// camera pose in world frame: transforms from camera to world
Matrix
<
T
,
3
,
1
>
p_wc
=
p_wr
+
q_wr
*
p_rc
;
...
...
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