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HKUST-Aerial-Robotics / ESVO

This repository maintains the implementation of "Event-based Stereo Visual Odometry".
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esvo_mapping #9

Closed DavidNemn closed 3 years ago

DavidNemn commented 3 years ago

hello， In the depthproblem.cpp,why don't need fjac？

Ethan-Zhou commented 3 years ago

Could you please detail the question?

DavidNemn commented 3 years ago

In the depth problem, I don't know how the inverse depth value is optimized, or is there any information about the use of Leninberg method in the Eigen Unsupport Module？

Thank you for your attention to my question

Ethan-Zhou commented 3 years ago

The inverse depth estimation problem is defined in DepthProblem.cpp (see operator()) and solved in DepthProblemSolver.cpp. If you would like to learn how to use LM solver with Eigen, there are a lot references online.

DavidNemn commented 3 years ago

thanks