From a4938e5bfe17ef73d8f931717e5f7e7c06fee1f1 Mon Sep 17 00:00:00 2001
From: gfuse <majidgeravand68@gmail.com>
Date: Wed, 8 Sep 2021 14:42:01 +0200
Subject: [PATCH] implement jacubian

---
 GPU_version/vio/include/vio/frame.h | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/GPU_version/vio/include/vio/frame.h b/GPU_version/vio/include/vio/frame.h
index 7a6f8fa..66e72b2 100644
--- a/GPU_version/vio/include/vio/frame.h
+++ b/GPU_version/vio/include/vio/frame.h
@@ -164,8 +164,9 @@ namespace vio {
                 const Vector3d& pos,
                 Matrix<double,2,3>& J)
         {
-            cam_;
-            T_f_w_;
+            cam_->params();
+            T_f_w_.se2().translation();
+            T_f_w_.pitch();
             dz;
             dz_n_k;
             dp_;