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fix penalty in GenProj residual #696

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Aug 16, 2023
Merged

fix penalty in GenProj residual #696

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8 changes: 4 additions & 4 deletions ext/RoMECameraModelsExt.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,7 @@ function (cf::CalcFactor{<:GenericProjection{S,T}})(
w_P_o
) where {S,T}

κ = 1000
κ = 0.001
M = SpecialEuclidean(3)

w_Ph = SVector{4,Float64}(w_P_o..., 1.0)
Expand All @@ -47,10 +47,10 @@ function (cf::CalcFactor{<:GenericProjection{S,T}})(
# experimental cost function to try force bad reprojects in front of the camera during optimization
# κ*(abs(pred.depth) - pred.depth)^2 + (c_X[1]-pred[1])^2 + (c_X[2]-pred[2])^2

frontPenalty = κ*(abs(pred.depth) - pred.depth)^2
res = SVector{3,Float64}(
c_X[1]-pred[1],
c_X[2]-pred[2],
κ*(abs(pred.depth) - pred.depth)
frontPenalty + (c_X[1]-pred[1]),
frontPenalty + (c_X[2]-pred[2]),
)

# error vs measured projection
Expand Down