From 1620b9056ad71a0c7198b1f0046cd797d9b8a367 Mon Sep 17 00:00:00 2001 From: dellaert Date: Thu, 5 Mar 2015 17:06:44 -0800 Subject: [PATCH] Reverted back to [h(x)-z] with Luca --- gtsam/geometry/CameraSet.h | 10 +++++----- gtsam/geometry/tests/testCameraSet.cpp | 2 +- gtsam/geometry/tests/testPinholeSet.cpp | 2 +- 3 files changed, 7 insertions(+), 7 deletions(-) diff --git a/gtsam/geometry/CameraSet.h b/gtsam/geometry/CameraSet.h index ecdc7c007..3bbcb8c0d 100644 --- a/gtsam/geometry/CameraSet.h +++ b/gtsam/geometry/CameraSet.h @@ -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& measured, boost::optional Fs = boost::none, // boost::optional 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& measured) const { - return ErrorVector(measured, projectAtInfinity(point)); + return ErrorVector(projectAtInfinity(point), measured); } /** diff --git a/gtsam/geometry/tests/testCameraSet.cpp b/gtsam/geometry/tests/testCameraSet.cpp index f34809ae6..05ffc275c 100644 --- a/gtsam/geometry/tests/testCameraSet.cpp +++ b/gtsam/geometry/tests/testCameraSet.cpp @@ -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)); diff --git a/gtsam/geometry/tests/testPinholeSet.cpp b/gtsam/geometry/tests/testPinholeSet.cpp index a8e43003d..1e5426f33 100644 --- a/gtsam/geometry/tests/testPinholeSet.cpp +++ b/gtsam/geometry/tests/testPinholeSet.cpp @@ -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));