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Get rid of scale

release/4.3a0
Frank Dellaert 2024-10-29 11:55:55 -07:00
parent 005efb3f07
commit c68858d7b6
2 changed files with 3 additions and 5 deletions
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4
gtsam/geometry/FundamentalMatrix.cpp
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@ -59,7 +59,7 @@ FundamentalMatrix::FundamentalMatrix(const Matrix3& F) {
void FundamentalMatrix::initialize(const Matrix3& U, double s, void FundamentalMatrix::initialize(const Matrix3& U, double s,
const Matrix3& V) { const Matrix3& V) {
s_ = s / kScale; s_ = s;
sign_ = 1.0; sign_ = 1.0;
// Check if U is a reflection and flip U and sign_ if so // Check if U is a reflection and flip U and sign_ if so
@ -82,7 +82,7 @@ void FundamentalMatrix::initialize(const Matrix3& U, double s,
} }
Matrix3 FundamentalMatrix::matrix() const { Matrix3 FundamentalMatrix::matrix() const {
return sign_ * U_.matrix() * Vector3(1.0, s_ * kScale, 0).asDiagonal() * return sign_ * U_.matrix() * Vector3(1.0, s_, 0).asDiagonal() *
V_.transpose().matrix(); V_.transpose().matrix();
} }

4
gtsam/geometry/FundamentalMatrix.h
View File

@ -34,11 +34,9 @@ class GTSAM_EXPORT FundamentalMatrix {
double s_; ///< Scalar parameter for S double s_; ///< Scalar parameter for S
Rot3 V_; ///< Right rotation Rot3 V_; ///< Right rotation
static constexpr double kScale = 1000; // s is stored in s_ as s/kScale
public: public:
/// Default constructor /// Default constructor
FundamentalMatrix() : U_(Rot3()), sign_(1.0), s_(1.0 / kScale), V_(Rot3()) {} FundamentalMatrix() : U_(Rot3()), sign_(1.0), s_(1.0), V_(Rot3()) {}
/** /**
* @brief Construct from U, V, and scalar s * @brief Construct from U, V, and scalar s