Fix MSVC build with Matrix operator*

src\absolute_pose\modules\main.cpp(773): error C2677: binary '*': no global operator found which takes type 'const Eigen::Matrix<double,1,10,1,1,10>' (or there is no acceptable conversion)
laurentkneip · Oct 24, 2018 · 573fdde · 573fdde
1 parent b04efd5
commit 573fdde
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/src/absolute_pose/modules/main.cpp b/src/absolute_pose/modules/main.cpp
@@ -770,7 +770,7 @@ opengv::absolute_pose::modules::upnp_main(
     {
       Eigen::Matrix<double,10,1> s;
       upnp_fill_s(quaternion,s);
-      Eigen::Matrix<double,1,1> valueM = s.transpose() * M * s + 2.0 * C * s;
+      Eigen::Matrix<double,1,1> valueM = s.transpose() * M * s + C * s * 2.0;
       double value = valueM[0] + gamma;
 
       std::vector<std::pair<double,Eigen::Vector4d>,Eigen::aligned_allocator< std::pair<double,Eigen::Vector4d> > >::iterator