Commit 85aceb6e authored by Joan Solà Ortega's avatar Joan Solà Ortega
Browse files

Fix doc

parent e7047151
......@@ -152,7 +152,7 @@ inline void FactorPixelHp::expectation(const T* const _frame_p,
// landmark dir vector in C frame
/* note: transforming hmg point to get direction vector v':
* | q T | * | v | = | q*v + T+w | --> v' = q*v + T+w
* | 0 1 | | w | | 0 w |
* | 0 1 | | w | | w |
*/
Matrix<T, 3, 1> v_dir = q_cw * lh_w.template head<3>() + p_cw * lh_w(3);
......
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