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Avoid division by zero in jacobian calculation

release/4.3a0
roderick-koehle 2021-10-22 19:39:09 +02:00 committed by GitHub
parent 1640f172e6
commit 8df2c70866
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1 changed files with 23 additions and 19 deletions
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42
gtsam/geometry/Cal3Fisheye.cpp
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@ -76,28 +76,32 @@ Point2 Cal3Fisheye::uncalibrate(const Point2& p, OptionalJacobian<2, 9> H1,
// Derivative for points in intrinsic coords (2 by 2)
if (H2) {
const double dtd_dt =
1 + 3 * k1_ * t2 + 5 * k2_ * t4 + 7 * k3_ * t6 + 9 * k4_ * t8;
const double dt_dr = 1 / (1 + r2);
const double rinv = 1 / r;
const double dr_dxi = xi * rinv;
const double dr_dyi = yi * rinv;
const double dtd_dxi = dtd_dt * dt_dr * dr_dxi;
const double dtd_dyi = dtd_dt * dt_dr * dr_dyi;
if (r2==0) {
*H2 = DK;
} else {
const double dtd_dt =
1 + 3 * k1_ * t2 + 5 * k2_ * t4 + 7 * k3_ * t6 + 9 * k4_ * t8;
const double dt_dr = 1 / (1 + r2);
const double rinv = 1 / r;
const double dr_dxi = xi * rinv;
const double dr_dyi = yi * rinv;
const double dtd_dxi = dtd_dt * dt_dr * dr_dxi;
const double dtd_dyi = dtd_dt * dt_dr * dr_dyi;
const double td = t * K.dot(T);
const double rrinv = 1 / r2;
const double dxd_dxi =
dtd_dxi * dr_dxi + td * rinv - td * xi * rrinv * dr_dxi;
const double dxd_dyi = dtd_dyi * dr_dxi - td * xi * rrinv * dr_dyi;
const double dyd_dxi = dtd_dxi * dr_dyi - td * yi * rrinv * dr_dxi;
const double dyd_dyi =
dtd_dyi * dr_dyi + td * rinv - td * yi * rrinv * dr_dyi;
const double td = t * K.dot(T);
const double rrinv = 1 / r2;
const double dxd_dxi =
dtd_dxi * dr_dxi + td * rinv - td * xi * rrinv * dr_dxi;
const double dxd_dyi = dtd_dyi * dr_dxi - td * xi * rrinv * dr_dyi;
const double dyd_dxi = dtd_dxi * dr_dyi - td * yi * rrinv * dr_dxi;
const double dyd_dyi =
dtd_dyi * dr_dyi + td * rinv - td * yi * rrinv * dr_dyi;
Matrix2 DR;
DR << dxd_dxi, dxd_dyi, dyd_dxi, dyd_dyi;
Matrix2 DR;
DR << dxd_dxi, dxd_dyi, dyd_dxi, dyd_dyi;
*H2 = DK * DR;
*H2 = DK * DR;
}
}
return uv;