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Merge pull request #1511 from zubingtan/fix_line3_transform_to_jacobian_of_line 

Fix wrong jacobian to line in Line3::transformTo
release/4.3a0
Frank Dellaert 2023-04-13 08:30:14 -07:00 committed by GitHub
parent 856ff94d70 9279d2713f
commit b32c20b48a
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2 changed files with 4 additions and 4 deletions
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4
gtsam/geometry/Line3.cpp
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@ -111,8 +111,8 @@ Line3 transformTo(const Pose3 &wTc, const Line3 &wL,
} }
if (Dline) { if (Dline) {
Dline->setIdentity(); Dline->setIdentity();
(*Dline)(0, 3) = -t[2]; (*Dline)(3, 0) = -t[2];
(*Dline)(1, 2) = t[2]; (*Dline)(2, 1) = t[2];
} }
return Line3(cRl, c_ab[0], c_ab[1]); return Line3(cRl, c_ab[0], c_ab[1]);
} }

4
gtsam/geometry/tests/testLine3.cpp
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@ -123,10 +123,10 @@ TEST(Line3, localCoordinatesOfRetract) {
// transform from world to camera test // transform from world to camera test
TEST(Line3, transformToExpressionJacobians) { TEST(Line3, transformToExpressionJacobians) {
Rot3 r = Rot3::Expmap(Vector3(0, M_PI / 3, 0)); Rot3 r = Rot3::Expmap(Vector3(0, M_PI / 3, 0));
Vector3 t(0, 0, 0); Vector3 t(-2.0, 2.0, 3.0);
Pose3 p(r, t); Pose3 p(r, t);
Line3 l_c(r.inverse(), 1, 1); Line3 l_c(r.inverse(), 3, -1);
Line3 l_w(Rot3(), 1, 1); Line3 l_w(Rot3(), 1, 1);
EXPECT(l_c.equals(transformTo(p, l_w))); EXPECT(l_c.equals(transformTo(p, l_w)));