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Some fixed matrices

release/4.3a0
dellaert 2014-10-07 19:35:06 +02:00
parent b704b7b1a1
commit e1c9ae95cb
1 changed files with 11 additions and 13 deletions
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24
gtsam/geometry/PinholeCamera.h
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@ -331,12 +331,10 @@ public:
const Point2 pi = K_.uncalibrate(pn, Dcal, Dpi_pn); const Point2 pi = K_.uncalibrate(pn, Dcal, Dpi_pn);
// chain the Jacobian matrices // chain the Jacobian matrices
if (Dpose) { if (Dpose)
calculateDpose(pn, d, Dpi_pn, *Dpose); calculateDpose(pn, d, Dpi_pn, *Dpose);
} if (Dpoint)
if (Dpoint) {
calculateDpoint(pn, d, pose_.rotation().matrix(), Dpi_pn, *Dpoint); calculateDpoint(pn, d, pose_.rotation().matrix(), Dpi_pn, *Dpoint);
}
return pi; return pi;
} else } else
return K_.uncalibrate(pn, Dcal, boost::none); return K_.uncalibrate(pn, Dcal, boost::none);
@ -442,12 +440,12 @@ public:
const double z = pc.z(), d = 1.0 / z; const double z = pc.z(), d = 1.0 / z;
// uncalibration // uncalibration
Matrix Dcal, Dpi_pn(2, 2); Matrix Dcal, Dpi_pn(2,2);
const Point2 pi = K_.uncalibrate(pn, Dcal, Dpi_pn); const Point2 pi = K_.uncalibrate(pn, Dcal, Dpi_pn);
if (Dcamera) { if (Dcamera) {
Dcamera->resize(2, this->dim()); Dcamera->resize(2, this->dim());
calculateDpose(pn, d, Dpi_pn, Dcamera->leftCols<6>()); calculateDpose(pn, d, Dpi_pn.block<2,2>(0,0), Dcamera->leftCols<6>());
Dcamera->rightCols(K_.dim()) = Dcal; // Jacobian wrt calib Dcamera->rightCols(K_.dim()) = Dcal; // Jacobian wrt calib
} }
if (Dpoint) { if (Dpoint) {
@ -569,16 +567,16 @@ private:
* See http://eigen.tuxfamily.org/dox/TopicFunctionTakingEigenTypes.html * See http://eigen.tuxfamily.org/dox/TopicFunctionTakingEigenTypes.html
*/ */
template<typename Derived> template<typename Derived>
static void calculateDpose(const Point2& pn, double d, const Matrix& Dpi_pn, static void calculateDpose(const Point2& pn, double d, const Matrix2& Dpi_pn,
Eigen::MatrixBase<Derived> const & Dpose) { Eigen::MatrixBase<Derived> const & Dpose) {
// optimized version of derivatives, see CalibratedCamera.nb // optimized version of derivatives, see CalibratedCamera.nb
const double u = pn.x(), v = pn.y(); const double u = pn.x(), v = pn.y();
double uv = u * v, uu = u * u, vv = v * v; double uv = u * v, uu = u * u, vv = v * v;
Eigen::Matrix<double, 2, 6> Dpn_pose; Matrix26 Dpn_pose;
Dpn_pose << uv, -1 - uu, v, -d, 0, d * u, 1 + vv, -uv, -u, 0, -d, d * v; Dpn_pose << uv, -1 - uu, v, -d, 0, d * u, 1 + vv, -uv, -u, 0, -d, d * v;
assert(Dpose.rows()==2 && Dpose.cols()==6); assert(Dpose.rows()==2 && Dpose.cols()==6);
const_cast<Eigen::MatrixBase<Derived>&>(Dpose) = // const_cast<Eigen::MatrixBase<Derived>&>(Dpose) = //
Dpi_pn.block<2, 2>(0, 0) * Dpn_pose; Dpi_pn * Dpn_pose;
} }
/** /**
@ -590,18 +588,18 @@ private:
* See http://eigen.tuxfamily.org/dox/TopicFunctionTakingEigenTypes.html * See http://eigen.tuxfamily.org/dox/TopicFunctionTakingEigenTypes.html
*/ */
template<typename Derived> template<typename Derived>
static void calculateDpoint(const Point2& pn, double d, const Matrix& R, static void calculateDpoint(const Point2& pn, double d, const Matrix3& R,
const Matrix& Dpi_pn, Eigen::MatrixBase<Derived> const & Dpoint) { const Matrix2& Dpi_pn, Eigen::MatrixBase<Derived> const & Dpoint) {
// optimized version of derivatives, see CalibratedCamera.nb // optimized version of derivatives, see CalibratedCamera.nb
const double u = pn.x(), v = pn.y(); const double u = pn.x(), v = pn.y();
Eigen::Matrix<double, 2, 3> Dpn_point; Matrix23 Dpn_point;
Dpn_point << // Dpn_point << //
R(0, 0) - u * R(0, 2), R(1, 0) - u * R(1, 2), R(2, 0) - u * R(2, 2), // R(0, 0) - u * R(0, 2), R(1, 0) - u * R(1, 2), R(2, 0) - u * R(2, 2), //
/**/R(0, 1) - v * R(0, 2), R(1, 1) - v * R(1, 2), R(2, 1) - v * R(2, 2); /**/R(0, 1) - v * R(0, 2), R(1, 1) - v * R(1, 2), R(2, 1) - v * R(2, 2);
Dpn_point *= d; Dpn_point *= d;
assert(Dpoint.rows()==2 && Dpoint.cols()==3); assert(Dpoint.rows()==2 && Dpoint.cols()==3);
const_cast<Eigen::MatrixBase<Derived>&>(Dpoint) = // const_cast<Eigen::MatrixBase<Derived>&>(Dpoint) = //
Dpi_pn.block<2, 2>(0, 0) * Dpn_point; Dpi_pn * Dpn_point;
} }
/// @} /// @}