From e1db2be5bdad8ac02320a9488014db55d252ca1c Mon Sep 17 00:00:00 2001 From: roderick-koehle <50633232+roderick-koehle@users.noreply.github.com> Date: Thu, 28 Oct 2021 13:54:38 +0200 Subject: [PATCH] Fix type in extression for dyd_dyi --- gtsam/geometry/Cal3Fisheye.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/gtsam/geometry/Cal3Fisheye.cpp b/gtsam/geometry/Cal3Fisheye.cpp index c4ce151ba..7bf9ea300 100644 --- a/gtsam/geometry/Cal3Fisheye.cpp +++ b/gtsam/geometry/Cal3Fisheye.cpp @@ -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.