tanjunyao7
tanjunyao7
@tsattler
> This question has come up before and there is an issue (either open or closed, I don't remember) where I described how to do this refinement. The issue also...
https://github.com/colmap/colmap/issues/1057#issuecomment-730266379 is this what you mentioned? @tsattler
> Yes btw, how to run that code? I run that code directly and the BA fails since no triangulated 3d points are available in the database. Should I run...
> > btw, how to run that code? I run that code directly and the BA fails since no triangulated 3d points are available in the database. Should I run...
> The author derived the right to left Jacobian, which is also mentioned in [issue28](https://github.com/RonaldSun/VI-Stereo-DSO/issues/28). However, I have no idea how he derived that. OK, I see. I havn't read...
idepth_zero corresponds to prior idepth information which we usually don't have. idepth - idepth_zero(deltaF) quantifies how far away from the prior knownledge(ground truth) we are. To make deltaF 0, idepth_zero...
> Hi, thanks for your insight! > > What you were saying was that since the prior is unknown, so deltaF should be zero to disable this part of information,...
1. Right after the new keyframe is optimized in the backend, some old key frame will be marginalized in general case, after which all the rest keyfame's(including the new one)...
@NikolausDemmel Hi thanks for your explanation. I have investigated the code and the paper a lot these days. It seems that all the magical things start with the variable errorInPixel...