// Computes the Jacobian from minimal space to naively overparameterised space as used by ceres. bool HomogeneousPointLocalParameterization::liftJacobian(const double*, double* jacobian) { Eigen::Map<Eigen::Matrix<double, 3, 4, Eigen::RowMajor> > Jp(jacobian); // Euclidean-style Jp.setZero(); Jp.topLeftCorner<3, 3>() = Eigen::Matrix3d::Identity(); return true; }
Expression* sintactico::Jp() { if(CurrentToken->tipo == GUION) { CurrentToken = Lexer->NexToken(); Expression* izq = K(); Expression* der = Jp(); if(der != NULL) return new exprNegative(der,Lexer->linea); return izq; } return NULL; }