Get rid of scale

Author: dellaert

gtsam/geometry/FundamentalMatrix.cpp

@@ -59,7 +59,7 @@ FundamentalMatrix::FundamentalMatrix(const Matrix3& F) {
 
 void FundamentalMatrix::initialize(const Matrix3& U, double s,
                                    const Matrix3& V) {
-  s_ = s / kScale;
+  s_ = s;
   sign_ = 1.0;
 
   // Check if U is a reflection and flip U and sign_ if so
@@ -82,7 +82,7 @@ void FundamentalMatrix::initialize(const Matrix3& U, double s,
 }
 
 Matrix3 FundamentalMatrix::matrix() const {
-  return sign_ * U_.matrix() * Vector3(1.0, s_ * kScale, 0).asDiagonal() *
+  return sign_ * U_.matrix() * Vector3(1.0, s_, 0).asDiagonal() *
          V_.transpose().matrix();
 }
 

gtsam/geometry/FundamentalMatrix.h

@@ -34,11 +34,9 @@ class GTSAM_EXPORT FundamentalMatrix {
   double s_;     ///< Scalar parameter for S
   Rot3 V_;       ///< Right rotation
 
-  static constexpr double kScale = 1000;  // s is stored in s_ as s/kScale
-
  public:
   /// Default constructor
-  FundamentalMatrix() : U_(Rot3()), sign_(1.0), s_(1.0 / kScale), V_(Rot3()) {}
+  FundamentalMatrix() : U_(Rot3()), sign_(1.0), s_(1.0), V_(Rot3()) {}
 
   /**
    * @brief Construct from U, V, and scalar s