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Cygnet ceres support unproject ray #240

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merged 9 commits into from
Jun 7, 2024
Merged

Cygnet ceres support unproject ray #240

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99e6e78
Fix up unpoject and ray intersection to support jet types.
Jun 4, 2024
3c34927
Missing TScalar.
Jun 5, 2024
3daefb8
moving some more things around.
Jun 5, 2024
b88bdfe
compiles.
Jun 5, 2024
870237d
typo
Jun 5, 2024
50863de
fix jet_helpers::GetValue for jet types.
Jun 5, 2024
bfd3ba9
Fix unit vector for jet.
Jun 6, 2024
eff6b3a
Merge remote-tracking branch 'origin/cygnet-dev' into cygnet-ceres-su…
Jun 6, 2024
82ad588
fix unit vector, all sophus tests pass.
Jun 7, 2024
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2 changes: 1 addition & 1 deletion cpp/sophus2/geometry/ray.h
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Original file line number Diff line number Diff line change
Expand Up @@ -64,7 +64,7 @@ class Ray {
}

struct IntersectionResult {
double lambda;
TScalar lambda;
Eigen::Matrix<TScalar, kN, 1> point;
};

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20 changes: 10 additions & 10 deletions cpp/sophus2/sensor/camera_distortion/brown_conrady.h
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Expand Up @@ -116,27 +116,27 @@ class BrownConradyTransform {
TScalar const c4 = c3 * c2; // pow(c2, 3);
TScalar const c5 = c2 * d[5] + c3 * d[6] + c4 * d[7] + 1.0;
TScalar const c6 = c5 * c5; // pow(c5, 2);
TScalar const c7 = 1.0 / c6;
TScalar const c7 = TScalar( 1.0) / c6;
TScalar const c8 = a * d[3];
TScalar const c9 = 2.0 * d[2];
TScalar const c10 = 2 * c2;
TScalar const c11 = 3 * c3;
TScalar const c9 = TScalar(2.0) * d[2];
TScalar const c10 = TScalar(2) * c2;
TScalar const c11 = TScalar(3) * c3;
TScalar const c12 = c2 * d[0];
TScalar const c13 = c3 * d[1];
TScalar const c14 = c4 * d[4];
TScalar const c15 =
2.0 * (c10 * d[6] + c11 * d[7] + d[5]) * (c12 + c13 + c14 + 1.0);
TScalar const c16 = 2.0 * c10 * d[1] + 2.0 * c11 * d[4] + 2.0 * d[0];
TScalar const c17 = 1.0 * c12 + 1.0 * c13 + 1.0 * c14 + 1.0;
TScalar(2.0) * (c10 * d[6] + c11 * d[7] + d[5]) * (c12 + c13 + c14 + TScalar(1.0));
TScalar const c16 = TScalar(2.0) * c10 * d[1] + 2.0 * c11 * d[4] + TScalar( 2.0) * d[0];
TScalar const c17 = TScalar(1.0) * c12 + TScalar(1.0) * c13 + TScalar(1.0) * c14 + TScalar(1.0);
TScalar const c18 = b * d[3];
TScalar const c19 = a * b;
TScalar const c20 = -c15 * c19 + c16 * c19 * c5;
du_dx =
c7 * (-c0 * c15 + c5 * (c0 * c16 + c17) + c6 * (b * c9 + 6.0 * c8));
c7 * (-c0 * c15 + c5 * (c0 * c16 + c17) + c6 * (b * c9 + TScalar(6.0) * c8));
du_dy = c7 * (c20 + c6 * (a * c9 + 2 * c18));
dv_dx = c7 * (c20 + c6 * (2 * a * d[2] + 2.0 * c18));
dv_dx = c7 * (c20 + c6 * (TScalar(2) * a * d[2] + TScalar(2.0) * c18));
dv_dy = c7 * (-c1 * c15 + c5 * (c1 * c16 + c17) +
c6 * (6.0 * b * d[2] + 2.0 * c8));
c6 * (TScalar(6.0) * b * d[2] + TScalar(2.0) * c8));
}

// | du_dx du_dy | | a b |
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