exp(x).inverse is the same as exp(-x)

2014-04-01 18:52:46 +02:00
parent aedd6ed63b
commit 1f44610858
1 changed files with 1 additions and 1 deletions
@@ -268,7 +268,7 @@ void SparseImgAlign::update(
    const ModelType& T_curold_from_ref,
    ModelType& T_curnew_from_ref)
 {
-  T_curnew_from_ref = T_curold_from_ref * SE3::exp(x_).inverse();
+  T_curnew_from_ref =  T_curold_from_ref * SE3::exp(-x_);
 }

 void SparseImgAlign::startIteration()