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FlorianPfaff merged 1 commit into from
May 10, 2026
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Use matvec for camera projection helpers #2017

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23 changes: 16 additions & 7 deletions src/pyrecest/models/sensor_models.py
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Original file line number Diff line number Diff line change
Expand Up @@ -87,13 +87,22 @@ def range_bearing_jacobian(
range_sq = dx * dx + dy * dy
range_value = sqrt(range_sq)
state_dim = int(state.shape[0])
range_row = zeros((state_dim,))
bearing_row = zeros((state_dim,))
range_row[int(position_indices[0])] = dx / range_value
range_row[int(position_indices[1])] = dy / range_value
bearing_row[int(position_indices[0])] = -dy / range_sq
bearing_row[int(position_indices[1])] = dx / range_sq
return stack([range_row, bearing_row])
x_index = int(position_indices[0])
y_index = int(position_indices[1])
zero = range_value * 0.0
range_entries = []
bearing_entries = []
for column in range(state_dim):
if column == x_index:
range_entries.append(dx / range_value)
bearing_entries.append(-dy / range_sq)
elif column == y_index:
range_entries.append(dy / range_value)
bearing_entries.append(dx / range_sq)
else:
range_entries.append(zero)
bearing_entries.append(zero)
return stack([stack(range_entries), stack(bearing_entries)])


def radar_range_bearing_doppler_measurement(
Expand Down