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

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Christian Forster
2014-04-01 18:52:46 +02:00
parent aedd6ed63b
commit 1f44610858
1 changed files with 1 additions and 1 deletions
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svo/src/sparse_img_align.cpp
+1 -1
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@@ -268,7 +268,7 @@ void SparseImgAlign::update(
const ModelType& T_curold_from_ref, const ModelType& T_curold_from_ref,
ModelType& T_curnew_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() void SparseImgAlign::startIteration()