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Negated meaning of reprojectionError

release/4.3a0
dellaert 2015-03-05 15:53:29 -08:00
parent 36be55e92c
commit 5cdb8ddb76
3 changed files with 6 additions and 6 deletions
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8
gtsam/geometry/CameraSet.h
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@ -141,18 +141,18 @@ public:
return z; return z;
} }
/// Calculate vector of re-projection errors /// Calculate vector [z-project2(point)] of re-projection errors
Vector reprojectionError(const Point3& point, const std::vector<Z>& measured, Vector reprojectionError(const Point3& point, const std::vector<Z>& measured,
boost::optional<FBlocks&> Fs = boost::none, // boost::optional<FBlocks&> Fs = boost::none, //
boost::optional<Matrix&> E = boost::none) const { boost::optional<Matrix&> E = boost::none) const {
return ErrorVector(project2(point, Fs, E), measured); return ErrorVector(measured, project2(point, Fs, E));
} }
/// Calculate vector of re-projection errors, from point at infinity /// Calculate vector [z-project2(point)] of re-projection errors, from point at infinity
// TODO: take Unit3 instead // TODO: take Unit3 instead
Vector reprojectionErrorAtInfinity(const Point3& point, Vector reprojectionErrorAtInfinity(const Point3& point,
const std::vector<Z>& measured) const { const std::vector<Z>& measured) const {
return ErrorVector(projectAtInfinity(point), measured); return ErrorVector(measured, projectAtInfinity(point));
} }
/** /**

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

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

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