My result of Jacobian is different

[clones1201]

I did the math and have a different Jacobian matrix as showing in my new code, you guys may want to check it.

[christiankerl]

can you share your calculations?

[clones1201]

as the parameters is (q0 q1 q2 t0 t1 t2) T
the rigid transform is :
(x',y',z')T =
| 1 -q2 q1 | (x,y,z)T + ( t0,t1,t2)T
| q2 1 -q0 |
| -q1 q0 1 |

and the projection is :
(u,v)T = ( x * fx / z + cx, y * fy / z + cy)T

so we have a Jacobian of the rigid transform:
| 0 z -y 1 0 0 |
| -z 0 x 0 1 0 |
| y -x 0 0 0 1 |
and a Jacobian of the projection :
| 1/z 0 -y/z^2 |
｜0 1/z -x/z^2 |

so the Jacobian of the warp function is:
| -y^2/z^2 1+x_y/z^2 -y/z 1/z 0 -y/z^2 |
| -1-x_y/z^2 x^2/z^2 x/z 0 1/z -x/z^2 |

and i test it with the freiburg1/room benchmark, looks good.

==========edit=============
Projection Jacobian should be
| 1/z 0 -x/z^2 |
｜0 1/z -y/z^2 |
then the result is as same as the code... oh, my poor math...

[christiankerl]

why are the rows of the projection Jacobian swapped?

[clones1201]

I think i know the problem,my mistake,sorry...