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Simplify project() Jacobians. #2

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Simplify project() Jacobians. #2

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13 changes: 3 additions & 10 deletions pixloc/pixlib/geometry/cuboid.py
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Original file line number Diff line number Diff line change
Expand Up @@ -304,16 +304,9 @@ def project(
if return_jacobian:
J_p3d_λ = (p3d_cam @ R_w2cam).unsqueeze(-1)

J_λ_d = 1.0 / (p3d_cam @ ntRt.transpose(-2, -1) + eps)
Rn = R_w2cam @ n3d_wi
J_λ_n = (
p3d_cam @ Rn * t_w2cam.transpose(-2, -1)
- (Rn.transpose(-2, -1) @ t_w2cam + d[..., i, None, None])
* p3d_cam
) / (p3d_cam @ Rn + eps) ** 2
J_λ_nd = torch.cat([J_λ_n @ R_w2cam, J_λ_d], dim=-1).unsqueeze(
-2
)
J_λ_nd = (torch.cat([-p3d_wi, torch.ones(p3d_wi.shape[:-1] + (1, )).to(p3d_wi)], dim=-1) / (
p3d_cam @ ntRt.transpose(-2, -1) + eps
)).unsqueeze(-2)

J_n_R = skew_symmetric(n3d_wi[..., 0]) @ R.transpose(-2, -1)
J_n_d = torch.zeros(self.shape + (3, 6)).to(p2d)
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13 changes: 3 additions & 10 deletions pixloc/pixlib/geometry/polygon.py
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Original file line number Diff line number Diff line change
Expand Up @@ -631,16 +631,9 @@ def project(
if return_jacobian:
J_p3d_λ = (p3d_cam @ R_w2cam).unsqueeze(-1)

J_λ_d = 1.0 / (p3d_cam @ ntRt.transpose(-2, -1) + eps)
Rn = R_w2cam @ n3d_wi
J_λ_n = (
p3d_cam @ Rn * t_w2cam.transpose(-2, -1)
- (Rn.transpose(-2, -1) @ t_w2cam + torch.nan_to_num(d[..., i, None, None]))
* p3d_cam
) / (p3d_cam @ Rn + eps) ** 2
J_λ_nd = torch.cat([J_λ_n @ R_w2cam, J_λ_d], dim=-1).unsqueeze(
-2
)
J_λ_nd = (torch.cat([-p3d_wi, torch.ones(p3d_wi.shape[:-1] + (1, )).to(p3d_wi)], dim=-1) / (
p3d_cam @ ntRt.transpose(-2, -1) + eps
)).unsqueeze(-2)

J_n_R = skew_symmetric(n3d_wi[..., 0]) @ R.transpose(-2, -1)
J_n_d = torch.zeros(self.shape + (3, self.d.shape[-1])).to(p2d)
Expand Down