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benchmark1_transfer
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src/benchmark/benchmark_virtual.cpp

Lines changed: 8 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -462,10 +462,16 @@ class BALM2
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delete plvecVoxels[i];
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plvecVoxels.clear();
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465+
// for(int j=1; j<winSize; j++)
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// {
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// x_stats[j].p = x_stats[j].p - x_stats[j].R * x_stats[0].R.transpose() * x_stats[0].p;
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// x_stats[j].R = x_stats[j].R * x_stats[0].R.transpose();
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// }
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for(int j=1; j<winSize; j++)
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{
467-
x_stats[j].p = x_stats[j].p - x_stats[j].R * x_stats[0].R.transpose() * x_stats[0].p;
468-
x_stats[j].R = x_stats[j].R * x_stats[0].R.transpose();
473+
x_stats[j].p = x_stats[0].R.transpose() * (x_stats[j].p - x_stats[0].p);
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x_stats[j].R = x_stats[0].R.transpose() * x_stats[j].R;
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}
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x_stats[0].R.setIdentity();

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