bugfix in ceres error term parametrization

ethz-asl · Aug 15, 2018 · 220b210 · 220b210
1 parent 6e14d2b
commit 220b210
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/algorithms/ceres-error-terms/src/parameterization/unit3-param.cc b/algorithms/ceres-error-terms/src/parameterization/unit3-param.cc
@@ -27,7 +27,7 @@ bool Unit3Parameterization::ComputeJacobian(
 
   Eigen::Quaterniond quat_x_copy = quat_x;
   if (quat_x_copy.w() < 0.) {
-    quat_x_copy.coeffs() = quat_x_copy.coeffs();
+    quat_x_copy.coeffs() = -quat_x_copy.coeffs();
   }
   // CHECK_GE(quat_x_copy.w(), 0);