tanjunyao7

refine pose in point_triangulator

17

**Is your feature request related to a problem? Please describe.** I wanna do sparse reconstruction from existing poses which are not accurate enough. I followed instructions in https://colmap.github.io/faq.html#reconstruct-sparse-dense-model-from-known-camera-poses. But it...

You have mixed different SE3 Jacobian types

4

DSO evaluates the Jacobian of the photometric error with left Jacobian of SE3. The update step of poses is also done in the left-multiplication way. However, your jacobians of IMU...

IMU Jacobian Calculation

1

Hi, thanks for your works. After reading your codes related to evaluation of imu residuals, I was puzzled by some some terms. Did you derive the formulae yourself or refer...

strange marginalization factor added to windowed optimization

7

Hi, according to the paper, the marginalized factor can be represented by > E = 2x^(T)b + x^(T)Hx where b and H correspond to bM and HM in the code,...

formulars in immaturePoint traceOn()

3

Hi there, I just can"t figure out how some variables in the member function traceOn() of class immaturePoint are calculated. For example errorInPixel, idepth_min and idepth_max. Can anybody give me...

**Is your feature request related to a problem? Please describe.** Currently the patch match module runs for every problem(with every reference image and the corresponding source images) sequentially in a...

[Feature Request] use one pass to compute mean and variance of recorded data

3

Hi, first of all, thanks for the great work. I recorded 50 episodes with a real robot with each episode lasting 20 seconds. When the recording is finished, the statistics...