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Fix type in extression for dyd_dyi

release/4.3a0
roderick-koehle 2021-10-28 13:54:38 +02:00 committed by GitHub
parent 8c2ea78b1a
commit e1db2be5bd
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gtsam/geometry/Cal3Fisheye.cpp
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@ -102,7 +102,7 @@ Point2 Cal3Fisheye::uncalibrate(const Point2& p, OptionalJacobian<2, 9> H1,
const double dxd_dxi = dtd_dr * c2 + s * (1 - c2);
const double dxd_dyi = (dtd_dr - s) * cs;
const double dyd_dxi = dxd_dyi;
const double dyd_dyi = dtd_dr * c2 + s * (1 - s2);
const double dyd_dyi = dtd_dr * s2 + s * (1 - s2);
// Derivatives by depth, for future use to support incident
// angles above 90 deg.