fixing docstring
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b0fb6a3908
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bd0838c0c9
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@ -341,15 +341,14 @@ class EssentialMatrixFactor4
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<< std::endl;
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<< std::endl;
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}
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}
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/// vector of errors returns 1D vector
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/**
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/**
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* @brief Calculate the algebraic epipolar error p' (K^-1)' E K p.
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* @brief Calculate the algebraic epipolar error p' (K^-1)' E K p.
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*
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*
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* @param E essential matrix for key keyE
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* @param E essential matrix for key keyE
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* @param K calibration (common for both images) for key keyK
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* @param K calibration (common for both images) for key keyK
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* @param H1 optional jacobian in E
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* @param H1 optional jacobian of error w.r.t E
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* @param H2 optional jacobian in K
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* @param H2 optional jacobian of error w.r.t K
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* @return * Vector
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* @return * Vector 1D vector of algebraic error
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*/
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*/
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Vector evaluateError(
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Vector evaluateError(
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const EssentialMatrix& E, const CALIBRATION& K,
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const EssentialMatrix& E, const CALIBRATION& K,
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@ -370,12 +369,9 @@ class EssentialMatrixFactor4
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if (H2) {
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if (H2) {
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// compute the jacobian of error w.r.t K
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// compute the jacobian of error w.r.t K
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// using dvA/dK = dvA/dcA * dcA/dK and dVB/dK = dvB/dcB * dcB/dK
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// Matrix vA_H_K = vA_H_cA * cA_H_K;
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// Matrix vB_H_K = vB_H_cB * cB_H_K;
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// error function f = vA.T * E * vB
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// error function f = vA.T * E * vB
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// H2 = df/dK = vB.T * E.T * dvA/dK + vA.T * E * dvB/dK
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// H2 = df/dK = vB.T * E.T * dvA/dK + vA.T * E * dvB/dK
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// where dvA/dK = dvA/dcA * dcA/dK, dVB/dK = dvB/dcB * dcB/dK
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*H2 = vB.transpose() * E.matrix().transpose() * vA_H_cA * cA_H_K +
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*H2 = vB.transpose() * E.matrix().transpose() * vA_H_cA * cA_H_K +
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vA.transpose() * E.matrix() * vB_H_cB * cB_H_K;
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vA.transpose() * E.matrix() * vB_H_cB * cB_H_K;
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}
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}
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