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这里p170页有对g2o的讲解。“g2o是旋转在前，平移在后；书上的推导是平移在前，旋转在后”。
@studennis911988 Hello, I'm also interested in real depth value, do you how to get the real depth value from the output depth image?
Hello, I can't download Bovisa dataset from the torrent. Anyone can help me? Thanks.
@Grapgerzhou 请问你解决了吗？我看VINS里面是b=j^Tr，不知道怎么理解。[https://blog.csdn.net/weixin_37651030/article/details/102683201]里面一开始推导是b=j^Tr后面推导又有b=-j^Tr，请问一下怎么理解。