Why does Jacobian calculation only use fx and not fy in optimization

[CrisGao]

I found that the Jacobian calculations in the program only involve fx, such as SE(2)-XYZ constrained Jacobian calculations: src/EdgeSE2XYZ.cpp/linearizeOplus() and Thirdparty/g2o/g2o/types/sba/types_six_dof_expmap.cpp/linearizeOplus()

[izhengfan]

We use only fx because in the early-stage we use the types of g2o, and g2o::CameraParameters only has one parameter focal_length, i.e. they consider fx==fy. This is correct in all the sensors we met with, so we just keep consistent to it.

[CrisGao]

I got it,Thank you