remove logs, trying to add more key frames by setting some situation for depth mean

2021-06-01 19:26:34 +02:00
parent faf00a6aad
commit 982217598a
8 changed files with 51 additions and 25 deletions
@@ -98,7 +98,6 @@ void optimizeGaussNewton(
      b.noalias() -= J.transpose()*e*weight;
      new_chi2 += e.squaredNorm()*weight;
    }
-
    // solve linear system
    const Vector6d dT(A.ldlt().solve(b));