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Fix a Jet conversion bug in rotation.h

Browse Source 
https: //github.com/ceres-solver/ceres-solver/issues/965
Change-Id: I4c99639be6afbfbefea3f9d56b6eaddbe4f23fe9
This commit is contained in:
Sameer Agarwal
2023-04-18 09:18:01 -07:00
parent a5e745d4e1
commit 92ad18b8ae
1 changed files with 2 additions and 2 deletions
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include/ceres/rotation.h
+2 -2
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@@ -578,7 +578,7 @@ void RotationMatrixToEulerAngles(
} else {
ea[0] = atan2(-R(j, k), R(j, j));
ea[1] = atan2(sy, R(i, i));
ea[2] = 0;
ea[2] = 0.0;
}
} else {
const T cy = hypot(R(i, i), R(j, i));
@@ -589,7 +589,7 @@ void RotationMatrixToEulerAngles(
} else {
ea[0] = atan2(-R(j, k), R(j, j));
ea[1] = atan2(-R(k, i), cy);
ea[2] = 0;
ea[2] = 0.0;
}
}
if constexpr (EulerSystem::kIsParityOdd) {