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New matrix definitions

release/4.3a0
dellaert 2014-10-07 00:31:13 +02:00
parent 399bf7c993
commit e289539312
1 changed files with 11 additions and 11 deletions
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22
gtsam/geometry/Cal3DS2.cpp
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@ -53,23 +53,23 @@ bool Cal3DS2::equals(const Cal3DS2& K, double tol) const {
}
/* ************************************************************************* */
static Eigen::Matrix<double, 2, 9> D2dcalibration(double x, double y, double xx,
static Matrix29 D2dcalibration(double x, double y, double xx,
double yy, double xy, double rr, double r4, double pnx, double pny,
const Eigen::Matrix<double, 2, 2>& DK) {
Eigen::Matrix<double, 2, 5> DR1;
const Matrix2& DK) {
Matrix25 DR1;
DR1 << pnx, 0.0, pny, 1.0, 0.0, 0.0, pny, 0.0, 0.0, 1.0;
Eigen::Matrix<double, 2, 4> DR2;
Matrix24 DR2;
DR2 << x * rr, x * r4, 2 * xy, rr + 2 * xx, //
y * rr, y * r4, rr + 2 * yy, 2 * xy;
Eigen::Matrix<double, 2, 9> D;
Matrix29 D;
D << DR1, DK * DR2;
return D;
}
/* ************************************************************************* */
static Eigen::Matrix<double, 2, 2> D2dintrinsic(double x, double y, double rr,
static Matrix2 D2dintrinsic(double x, double y, double rr,
double g, double k1, double k2, double p1, double p2,
const Eigen::Matrix<double, 2, 2>& DK) {
const Matrix2& DK) {
const double drdx = 2. * x;
const double drdy = 2. * y;
const double dgdx = k1 * drdx + k2 * 2. * rr * drdx;
@ -82,7 +82,7 @@ static Eigen::Matrix<double, 2, 2> D2dintrinsic(double x, double y, double rr,
const double dDydx = 2. * p2 * y + p1 * drdx;
const double dDydy = 2. * p2 * x + p1 * (drdy + 4. * y);
Eigen::Matrix<double, 2, 2> DR;
Matrix2 DR;
DR << g + x * dgdx + dDxdx, x * dgdy + dDxdy, //
y * dgdx + dDydx, g + y * dgdy + dDydy;
@ -110,7 +110,7 @@ Point2 Cal3DS2::uncalibrate(const Point2& p, boost::optional<Matrix&> H1,
const double pnx = g * x + dx;
const double pny = g * y + dy;
Eigen::Matrix<double, 2, 2> DK;
Matrix2 DK;
if (H1 || H2) DK << fx_, s_, 0.0, fy_;
// Derivative for calibration
@ -161,7 +161,7 @@ Matrix Cal3DS2::D2d_intrinsic(const Point2& p) const {
const double rr = xx + yy;
const double r4 = rr * rr;
const double g = (1 + k1_ * rr + k2_ * r4);
Eigen::Matrix<double, 2, 2> DK;
Matrix2 DK;
DK << fx_, s_, 0.0, fy_;
return D2dintrinsic(x, y, rr, g, k1_, k2_, p1_, p2_, DK);
}
@ -176,7 +176,7 @@ Matrix Cal3DS2::D2d_calibration(const Point2& p) const {
const double dy = 2 * p2_ * xy + p1_ * (rr + 2 * yy);
const double pnx = g * x + dx;
const double pny = g * y + dy;
Eigen::Matrix<double, 2, 2> DK;
Matrix2 DK;
DK << fx_, s_, 0.0, fy_;
return D2dcalibration(x, y, xx, yy, xy, rr, r4, pnx, pny, DK);
}