Change the sign of the partial derivative of the rotation of the neig…

…hboring control nodes from positive to negative
kzampog · Jan 12, 2019 · b84e303 · b84e303
1 parent 53222e7
commit b84e303
Showing 1 changed file with 9 additions and 9 deletions.
diff --git a/include/cilantro/warp_field_estimation.hpp b/include/cilantro/warp_field_estimation.hpp
@@ -2085,11 +2085,11 @@ namespace cilantro {
                         inner_ind[nz_ind++] = s_offset + 4;
                         values[nz_ind] = (ScalarT)0.0;
                         inner_ind[nz_ind++] = s_offset + 5;
-                        values[nz_ind] = d_sqrt_huber_loss * d_rot_da_n[0];
+                        values[nz_ind] = d_sqrt_huber_loss * -d_rot_da_n[0];
                         inner_ind[nz_ind++] = n_offset;
-                        values[nz_ind] = d_sqrt_huber_loss * d_rot_db_n[0];
+                        values[nz_ind] = d_sqrt_huber_loss * -d_rot_db_n[0];
                         inner_ind[nz_ind++] = n_offset + 1;
-                        values[nz_ind] = d_sqrt_huber_loss * d_rot_dc_n[0];
+                        values[nz_ind] = d_sqrt_huber_loss * -d_rot_dc_n[0];
                         inner_ind[nz_ind++] = n_offset + 2;
                         values[nz_ind] = d_sqrt_huber_loss;
                         inner_ind[nz_ind++] = n_offset + 3;
@@ -2112,11 +2112,11 @@ namespace cilantro {
                         inner_ind[nz_ind++] = s_offset + 4;
                         values[nz_ind] = (ScalarT)0.0;
                         inner_ind[nz_ind++] = s_offset + 5;
-                        values[nz_ind] = d_sqrt_huber_loss * d_rot_da_n[1];
+                        values[nz_ind] = d_sqrt_huber_loss * -d_rot_da_n[1];
                         inner_ind[nz_ind++] = n_offset;
-                        values[nz_ind] = d_sqrt_huber_loss * d_rot_db_n[1];
+                        values[nz_ind] = d_sqrt_huber_loss * -d_rot_db_n[1];
                         inner_ind[nz_ind++] = n_offset + 1;
-                        values[nz_ind] = d_sqrt_huber_loss * d_rot_dc_n[1];
+                        values[nz_ind] = d_sqrt_huber_loss * -d_rot_dc_n[1];
                         inner_ind[nz_ind++] = n_offset + 2;
                         values[nz_ind] = (ScalarT)0.0;
                         inner_ind[nz_ind++] = n_offset + 3;
@@ -2139,11 +2139,11 @@ namespace cilantro {
                         inner_ind[nz_ind++] = s_offset + 4;
                         values[nz_ind] = -d_sqrt_huber_loss;
                         inner_ind[nz_ind++] = s_offset + 5;
-                        values[nz_ind] = d_sqrt_huber_loss * d_rot_da_n[2];
+                        values[nz_ind] = d_sqrt_huber_loss * -d_rot_da_n[2];
                         inner_ind[nz_ind++] = n_offset;
-                        values[nz_ind] = d_sqrt_huber_loss * d_rot_db_n[2];
+                        values[nz_ind] = d_sqrt_huber_loss * -d_rot_db_n[2];
                         inner_ind[nz_ind++] = n_offset + 1;
-                        values[nz_ind] = d_sqrt_huber_loss * d_rot_dc_n[2];
+                        values[nz_ind] = d_sqrt_huber_loss * -d_rot_dc_n[2];
                         inner_ind[nz_ind++] = n_offset + 2;
                         values[nz_ind] = (ScalarT)0.0;
                         inner_ind[nz_ind++] = n_offset + 3;