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bug fix: added check on whether to modify Jacobians, depending on whether they are boost::none or not

release/4.3a0
Luca 2016-07-29 16:40:30 -04:00
parent 20c13580cc
commit c9e43e7435
1 changed files with 10 additions and 10 deletions
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20
gtsam/slam/SmartFactorBase.h
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@ -213,7 +213,7 @@ public:
boost::optional<typename Cameras::FBlocks&> Fs = boost::none, //
boost::optional<Matrix&> E = boost::none) const {
Vector ue = cameras.reprojectionError(point, measured_, Fs, E);
if(body_P_sensor_){
if(body_P_sensor_ && Fs){
for(size_t i=0; i < Fs->size(); i++){
Pose3 w_Pose_body = (cameras[i].pose()).compose(body_P_sensor_->inverse());
Matrix J(6, 6);
@ -225,17 +225,17 @@ public:
static const int Np = FixedDimension<POINT>::value; // 2 (Unit3) or 3 (Point3)
// when using stereo cameras, some of the measurements might be missing:
for(size_t i=0; i < Fs->size(); i++){
for(size_t i=0; i < cameras.size(); i++){
const StereoPoint2 * z3 = reinterpret_cast<const StereoPoint2*>(&measured_.at(i));
if(z3 && std::isnan(z3->uR())) // if it's a stereo point and the right pixel is invalid
if(ZDim==3 && z3 && std::isnan(z3->uR())) // if it's a stereo point and the right pixel is invalid
{
// delete influence of right point on jacobian Fs
MatrixZD& Fi = Fs->at(i);
for(size_t ii=0; ii<Dim; ii++)
Fi(1,ii) = 0.0;
// delete influence of right point on jacobian E
E->block<1, Np>(ZDim * i + 1, 0) = Matrix::Zero(1, Np);
if(Fs){ // delete influence of right point on jacobian Fs
MatrixZD& Fi = Fs->at(i);
for(size_t ii=0; ii<Dim; ii++)
Fi(1,ii) = 0.0;
}
if(E) // delete influence of right point on jacobian E
E->block<1, Np>(ZDim * i + 1, 0) = Matrix::Zero(1, Np);
// set to zero entry from vector ue
ue(ZDim * i + 1) = 0.0;