From 85aceb6e79c87717279985c0795eadb43d46f04b Mon Sep 17 00:00:00 2001
From: Joan Sola <jsola@iri.upc.edu>
Date: Sun, 24 Apr 2022 20:09:26 +0200
Subject: [PATCH] Fix doc
---
include/vision/factor/factor_pixel_hp.h | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/include/vision/factor/factor_pixel_hp.h b/include/vision/factor/factor_pixel_hp.h
index 5eda3bbcc..eed7e421b 100644
--- a/include/vision/factor/factor_pixel_hp.h
+++ b/include/vision/factor/factor_pixel_hp.h
@@ -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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