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LeiXu1999 / EPLF-VINS

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line reprojection error #3

Open hjshxb opened 1 year ago

hjshxb commented 1 year ago

Hi. I did not find the line reprojection error mentioned in the paper.
It still is the original implementation of PL-VINS (line_projection_factor.cpp)

LeiXu1999 commented 3 months ago

这块在开源的代码中没有体现，根据链式法则，修改一部分雅可比的计算就可以复现。