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correct the chain rule in Jacobian

release/4.3a0
zhaoyang 2015-06-12 15:08:58 -04:00
parent 4c4c72adb4
commit 9ac223ec7d
1 changed files with 14 additions and 12 deletions
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26
gtsam/geometry/StereoCamera.cpp
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@ -109,22 +109,24 @@ namespace gtsam {
double Y = Z * (measured[2] - cy) / fy; double Y = Z * (measured[2] - cy) / fy;
if(H1 || H2) { if(H1 || H2) {
if(H1) {
} double d_2 = d*d;
if(H2) { double z_partial_x = -fx*b/d_2, z_partial_y = fx*b/d_2;
double d_2 = d*d; Matrix3 partial_to_point;
double z_partial_x = -fx*b/d_2, z_partial_y = fx*b/d_2; partial_to_point << z_partial_x * X/Z + Z/fx, z_partial_y *X/Z, 0,
*H2 << z_partial_x * X/Z + Z/fx, z_partial_y *X/Z, 0, z_partial_x * Y/Z, z_partial_y *Y/Z, Z/fy,
z_partial_x * Y/Z, z_partial_y *Y/Z, Z/fy, z_partial_x, z_partial_y, 0;
z_partial_x, z_partial_y, 0;
}
Matrix point_H1, point_H2; Eigen::Matrix<double, 3, 6> point_H1;
Eigen::Matrix<double, 3, 3> point_H2;
const Point3 point = leftCamPose_.transform_from(Point3(X,Y,Z), point_H1, point_H2); const Point3 point = leftCamPose_.transform_from(Point3(X,Y,Z), point_H1, point_H2);
*H1 = point_H1 * (*H1); if(H1) {
*H2 = point_H2 * (*H2); *H1 = point_H1;
}
if(H2) {
*H2 = point_H2 * partial_to_point;
}
return point; return point;
} }