From 5a2f1f889331f004a621610a3583646221732f4a Mon Sep 17 00:00:00 2001
From: Frank Dellaert <dellaert@gmail.com>
Date: Tue, 29 Oct 2024 11:55:55 -0700
Subject: [PATCH] Get rid of scale

---
 gtsam/geometry/FundamentalMatrix.cpp | 4 ++--
 gtsam/geometry/FundamentalMatrix.h   | 4 +---
 2 files changed, 3 insertions(+), 5 deletions(-)

diff --git a/gtsam/geometry/FundamentalMatrix.cpp b/gtsam/geometry/FundamentalMatrix.cpp
index 94c72673d3..406269ff57 100644
--- a/gtsam/geometry/FundamentalMatrix.cpp
+++ b/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();
 }
 
diff --git a/gtsam/geometry/FundamentalMatrix.h b/gtsam/geometry/FundamentalMatrix.h
index a36c815da1..beb2947e2c 100644
--- a/gtsam/geometry/FundamentalMatrix.h
+++ b/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