From 1f446108587a473370e61fae40ee679363dd11cd Mon Sep 17 00:00:00 2001
From: Christian Forster <ch.forster@gmail.com>
Date: Tue, 1 Apr 2014 18:52:46 +0200
Subject: [PATCH] exp(x).inverse is the same as exp(-x)

---
 svo/src/sparse_img_align.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/svo/src/sparse_img_align.cpp b/svo/src/sparse_img_align.cpp
index 3278237..6dc97c8 100644
--- a/svo/src/sparse_img_align.cpp
+++ b/svo/src/sparse_img_align.cpp
@@ -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()