Merge pull request #46 from danini/fix-clang

replace R with q
danini · Mar 20, 2024 · 55c7d75 · 55c7d75
2 parents 8c951dd + 73dd749
commit 55c7d75
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/src/pygcransac/include/relative_pose/bundle.cpp b/src/pygcransac/include/relative_pose/bundle.cpp
@@ -74,7 +74,7 @@ int lm_pnp_impl(const JacobianAccumulator &accum,
 
         CameraPose pose_new;
         Eigen::Matrix3d R = pose->R();
-        pose_new.R = R + R * (a * sw + (1 - b) * sw * sw);
+        pose_new.q = pose_new.rotmat_to_quat(R + R * (a * sw + (1 - b) * sw * sw));
         pose_new.t = pose->t + R * sol.block<3, 1>(3, 0);
         double cost_new = accum.residual(pose_new);
 
@@ -149,7 +149,7 @@ int lm_6dof_impl(const JacobianAccumulator &accum, CameraPose *pose, const Bundl
 
         CameraPose pose_new;
         Eigen::Matrix3d R = pose->R();
-        pose_new.R = R + R * (a * sw + (1 - b) * sw * sw);
+        pose_new.q = pose_new.rotmat_to_quat(R + R * (a * sw + (1 - b) * sw * sw));
         pose_new.t = pose->t + R * sol.block<3, 1>(3, 0);
         double cost_new = accum.residual(pose_new);