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EdgeSE3Expmap was modified #505

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EdgeSE3Expmap was modified #505

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7 changes: 1 addition & 6 deletions g2o/types/sba/edge_se3_expmap.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -52,20 +52,15 @@
}

void EdgeSE3Expmap::linearizeOplus() {
VertexSE3Expmap* vi = static_cast<VertexSE3Expmap*>(_vertices[0]);
SE3Quat Ti(vi->estimate());

VertexSE3Expmap* vj = static_cast<VertexSE3Expmap*>(_vertices[1]);
SE3Quat Tj(vj->estimate());

const SE3Quat& Tij = _measurement;
SE3Quat invTij = Tij.inverse();

SE3Quat invTj_Tij = Tj.inverse() * Tij;
SE3Quat infTi_invTij = Ti.inverse() * invTij;

_jacobianOplusXi = invTj_Tij.adj();
_jacobianOplusXj = -infTi_invTij.adj();
_jacobianOplusXj = -Tj.inverse().adj();

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}

} // namespace g2o