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Commit 01d37a56 authored by Joan Solà Ortega's avatar Joan Solà Ortega
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Cosmetics

parent 1be38ec6
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1 merge request!346Resolve "Frame/Capture/Feature/Landmark Other as list/vectors in FactorBase"
Pipeline #5035 failed
......@@ -140,10 +140,12 @@ inline bool FactorDiffDrive::operator ()(const T* const _p1, const T* const _o1,
inline Eigen::VectorXd FactorDiffDrive::residual()
{
VectorXd residual(3);
operator ()(getFrameOther()->getP()->getState().data(), getFrameOther()->getO()->getState().data(),
getCapture()->getFrame()->getP()->getState().data(),
getCapture()->getFrame()->getO()->getState().data(),
getCaptureOther()->getSensorIntrinsic()->getState().data(), residual.data());
operator ()(getFrameOther() ->getP() ->getState() .data(),
getFrameOther() ->getO() ->getState() .data(),
getFrame() ->getP() ->getState() .data(),
getFrame() ->getO() ->getState() .data(),
getCaptureOther() ->getSensorIntrinsic() ->getState() .data(),
residual.data());
return residual;
}
......
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