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Reverted back to [h(x)-z] with Luca

release/4.3a0
dellaert 2015-03-05 17:06:44 -08:00
parent 6212034976
commit 1620b9056a
3 changed files with 7 additions and 7 deletions
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10
gtsam/geometry/CameraSet.h
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@ -53,7 +53,7 @@ protected:
if (measured.size() != m)
throw std::runtime_error("CameraSet::errors: size mismatch");
// Project and fill derivatives
// Project and fill error vector
Vector b(ZDim * m);
for (size_t i = 0, row = 0; i < m; i++, row += ZDim) {
Z e = predicted[i] - measured[i];
@ -141,18 +141,18 @@ public:
return z;
}
/// Calculate vector [z-project2(point)] of re-projection errors
/// Calculate vector [project2(point)-z] of re-projection errors
Vector reprojectionError(const Point3& point, const std::vector<Z>& measured,
boost::optional<FBlocks&> Fs = boost::none, //
boost::optional<Matrix&> E = boost::none) const {
return ErrorVector(measured, project2(point, Fs, E));
return ErrorVector(project2(point, Fs, E), measured);
}
/// Calculate vector [z-project2(point)] of re-projection errors, from point at infinity
/// Calculate vector [project2(point)-z] of re-projection errors, from point at infinity
// TODO: take Unit3 instead
Vector reprojectionErrorAtInfinity(const Point3& point,
const std::vector<Z>& measured) const {
return ErrorVector(measured, projectAtInfinity(point));
return ErrorVector(projectAtInfinity(point), measured);
}
/**

2
gtsam/geometry/tests/testCameraSet.cpp
View File

@ -75,7 +75,7 @@ TEST(CameraSet, Pinhole) {
Vector4 expectedV;
// reprojectionError
expectedV << 1, 2, 3, 4;
expectedV << -1, -2, -3, -4;
Vector actualV = set.reprojectionError(p, measured);
EXPECT(assert_equal(expectedV, actualV));

2
gtsam/geometry/tests/testPinholeSet.cpp
View File

@ -115,7 +115,7 @@ TEST(PinholeSet, Pinhole) {
Vector4 expectedV;
// reprojectionError
expectedV << 1, 2, 3, 4;
expectedV << -1, -2, -3, -4;
Vector actualV = set.reprojectionError(p, measured);
EXPECT(assert_equal(expectedV, actualV));