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Handle extrinsics and intrinsics for jacobian

release/4.3a0
Varun Agrawal 2020-07-09 20:02:30 -04:00
parent f23587fafd
commit 60c88f67e9
1 changed files with 9 additions and 3 deletions
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12
gtsam/slam/SmartFactorBase.h
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@ -207,11 +207,17 @@ protected:
Vector ue = cameras.reprojectionError(point, measured_, Fs, E); Vector ue = cameras.reprojectionError(point, measured_, Fs, E);
if (body_P_sensor_ && Fs) { if (body_P_sensor_ && Fs) {
const Pose3 sensor_P_body = body_P_sensor_->inverse(); const Pose3 sensor_P_body = body_P_sensor_->inverse();
size_t camera_dim = size_t(traits<CAMERA>::dimension);
size_t pose_dim = size_t(traits<Pose3>::dimension);
for (size_t i = 0; i < Fs->size(); i++) { for (size_t i = 0; i < Fs->size(); i++) {
const Pose3 world_P_body = cameras[i].pose() * sensor_P_body; const Pose3 world_P_body = cameras[i].pose() * sensor_P_body;
Matrix J(6, 6); Matrix J = Matrix::Zero(camera_dim, camera_dim);
// Call compose to compute Jacobian // Call compose to compute Jacobian for camera extrinsics
world_P_body.compose(*body_P_sensor_, J); Matrix H(pose_dim, pose_dim);
world_P_body.compose(*body_P_sensor_, H);
// Assign extrinsics
J.block(0, 0, pose_dim, pose_dim) = H;
Fs->at(i) = Fs->at(i) * J; Fs->at(i) = Fs->at(i) * J;
} }
} }