edit svo

2021-04-12 12:43:04 +02:00
parent 651dcdfb2f
commit 56c7f23088
8 changed files with 139 additions and 20 deletions
@@ -49,6 +49,7 @@ void optimizeGaussNewton(
  {
    if((*it)->point == NULL)
      continue;
+    //Reprojection error
    Vector2d e = vk::project2d((*it)->f)
               - vk::project2d(frame->T_f_w_ * (*it)->point->pos_);
    e *= 1.0 / (1<<(*it)->level);