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InvDepthFactor3: Fix wrong derivative H3 #1157

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merged 2 commits into from
Apr 11, 2022

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d-vo
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@d-vo d-vo commented Mar 31, 2022

This PR fixes a wrong assignment in gtsam_unstable/slam/InvDepthFactor3.h where H2 is set to the wrong dimensions and H3 is left unassigned in case of a projection outside of the camera field-of-view.

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@varunagrawal varunagrawal left a comment

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LGTM! Thanks @d-vo

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@d-vo can you please do us a favor and add a unit test for this? It should be pretty straightforward since we already have machinery for computing and verifying against numerical derivatives.

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d-vo commented Apr 1, 2022

Sure. I can add some unit tests for the derivatives, but might take a few days before I get to it. We can leave the PR open until I get to it, or we can merge and I will add them separately - as you prefer.

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I would prefer to keep this open since it helps with the git history. Looking forward to the tests!

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dellaert commented Apr 8, 2022

Started CI, @varunagrawal or I can merge when it passes.

@varunagrawal varunagrawal merged commit d3162bf into borglab:develop Apr 11, 2022
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3 participants