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release/4.3a0
roderick-koehle 2021-11-22 21:02:32 +01:00 committed by GitHub
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commit 8a6b2aadca
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gtsam/geometry/Cal3Fisheye.cpp
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@ -87,28 +87,16 @@ Point2 Cal3Fisheye::uncalibrate(const Point2& p, OptionalJacobian<2, 9> H1,
const double dr_dxi = xi * rinv; const double dr_dxi = xi * rinv;
const double dr_dyi = yi * rinv; const double dr_dyi = yi * rinv;
const double dtd_dr = dtd_dt * dt_dr; const double dtd_dr = dtd_dt * dt_dr;
// const double dtd_dxi = dtd_dt * dt_dr * dr_dxi;
// const double dtd_dyi = dtd_dt * dt_dr * dr_dyi;
const double c2 = dr_dxi * dr_dxi; const double c2 = dr_dxi * dr_dxi;
const double s2 = dr_dyi * dr_dyi; const double s2 = dr_dyi * dr_dyi;
const double cs = dr_dxi * dr_dyi; const double cs = dr_dxi * dr_dyi;
// Following refactoring is numerically stable, even for unnormalized radial
// values by avoiding division with the square radius.
//
// const double td = t * K.dot(T); - note: s = td/r
// const double rrinv = 1 / r2; - division by r2 may cause overflow
const double dxd_dxi = dtd_dr * c2 + s * (1 - c2); const double dxd_dxi = dtd_dr * c2 + s * (1 - c2);
const double dxd_dyi = (dtd_dr - s) * cs; const double dxd_dyi = (dtd_dr - s) * cs;
const double dyd_dxi = dxd_dyi; const double dyd_dxi = dxd_dyi;
const double dyd_dyi = dtd_dr * s2 + s * (1 - s2); const double dyd_dyi = dtd_dr * s2 + s * (1 - s2);
// Derivatives by depth, for future use to support incident
// angles above 90 deg.
// const double dxd_dzi = -dtd_dt * x / R2
// const double dyd_dzi = -dtd_dt * y / R2
Matrix2 DR; Matrix2 DR;
DR << dxd_dxi, dxd_dyi, dyd_dxi, dyd_dyi; DR << dxd_dxi, dxd_dyi, dyd_dxi, dyd_dyi;