Minor PR Fixes.

locusrobotics · Dec 11, 2023 · 3a2a561 · 3a2a561
1 parent 5b22af0
commit 3a2a561
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Showing 2 changed files with 2 additions and 5 deletions.
diff --git a/fuse_constraints/include/fuse_constraints/fixed_3d_landmark_constraint.h b/fuse_constraints/include/fuse_constraints/fixed_3d_landmark_constraint.h
@@ -63,10 +63,10 @@ namespace fuse_constraints
  *
  * A landmark is represented as a 3D pose (3D position and a 3D orientation). This class takes 
  * the ground truth location of the 3D landmark and applies a reprojection-error based constraint
- * an constraint on the position, orientation and calibration of the camera that observed the landmark.
+ * on the position, orientation and calibration of the camera that observed the landmark.
  * 
  * In most cases, the camera calibration should be held fixed as a single landmark does not present enough
- * points to accurate constrain the pose AND the calibraton.
+ * points to accurately constrain the pose AND the calibraton.
  * 
  */
 class Fixed3DLandmarkConstraint : public fuse_core::Constraint

diff --git a/fuse_constraints/include/fuse_constraints/fixed_3d_landmark_cost_functor.h b/fuse_constraints/include/fuse_constraints/fixed_3d_landmark_cost_functor.h
@@ -114,8 +114,6 @@ class Fixed3DLandmarkCostFunctor
   fuse_core::Vector7d b_;
   fuse_core::MatrixXd obs_;
   fuse_core::MatrixXd pts3d_;
-
-  NormalPriorOrientation3DCostFunctor orientation_functor_;
 };
 
 Fixed3DLandmarkCostFunctor::Fixed3DLandmarkCostFunctor(const fuse_core::MatrixXd& A, const fuse_core::Vector7d& b,
@@ -124,7 +122,6 @@ Fixed3DLandmarkCostFunctor::Fixed3DLandmarkCostFunctor(const fuse_core::MatrixXd
   , b_(b)
   , obs_(obs)
   , pts3d_(pts3d.transpose())  // Transpose from Nx3 to 3xN to make math easier.
-  , orientation_functor_(fuse_core::Matrix3d::Identity(), b_.tail<4>())  // Delta will not be scaled
 {
   assert(pts3d_.rows() == 3);  // Check if we have 3xN