From 118e9d82484e13d6c86b95c653408a56db80f6df Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Sun, 24 Apr 2022 23:31:58 +0200
Subject: [PATCH] Use Eigen::Map
---
include/vision/factor/factor_pixel_hp.h | 8 ++++----
1 file changed, 4 insertions(+), 4 deletions(-)
diff --git a/include/vision/factor/factor_pixel_hp.h b/include/vision/factor/factor_pixel_hp.h
index eed7e421b..0edfcb65e 100644
--- a/include/vision/factor/factor_pixel_hp.h
+++ b/include/vision/factor/factor_pixel_hp.h
@@ -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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