JakobEngel / dso

Direct Sparse Odometry
GNU General Public License v3.0
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fix lm regularizer in backend #234

Open Solonets opened 3 years ago

Solonets commented 3 years ago

As marginalized and Schur complement of depths are parts of an inverted linear system, they should be scaled with 1 / (1 + lambda) instead of (1+lambda)

this is also valid for b vector