implement jacubian

2021-09-08 14:42:01 +02:00
parent 132da1adda
commit a4938e5bfe
1 changed files with 3 additions and 2 deletions
@@ -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_;