Build with BundleCeres for windows system#66
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aki34 wants to merge 3 commits intosnavely:masterfrom
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modified not to use rot2aa and aa2rot
It's correct to use rot2aa and aa2rot.
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I think the reason being ceres Matrix are in column major form and rot2aa and aa2rot are in row major form so you only need to transpose the matrix or multiply angle-axis by -1 to get the correct result. hope it will help |
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As I mentioned in Issues, these two files (time-unix.h and time-unix.cpp) are needed for building with windows system.
Also I found difference between rot2aa() and ceres::RotationMatrixToAngleAxis and between aa2rot() and ceres::AngleAxisToRotationMatrix.
The sign is different in the output of each function