From 220b210e80cf145d1c7a04b53de0b80da3acbe9f Mon Sep 17 00:00:00 2001 From: Marius Fehr Date: Wed, 15 Aug 2018 15:20:28 +0200 Subject: [PATCH] bugfix in ceres error term parametrization --- .../ceres-error-terms/src/parameterization/unit3-param.cc | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/algorithms/ceres-error-terms/src/parameterization/unit3-param.cc b/algorithms/ceres-error-terms/src/parameterization/unit3-param.cc index a82d705657..b998dbdd1d 100644 --- 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);