Open Yingsheng123 opened 1 month ago
为什么对线特征边缘化是采用 ResidualBlockInfo residual_block_info = new ResidualBlockInfo(f, loss_function,vector<double >{para_Pose[imu_j], para_Ex_Pose[0], para_LineFeature[linefeature_index]},drop_set); drop_set = vector{2}; 而不是像点特征一样边缘化滑窗中第0帧,drop_set = {0,2}
为什么对线特征边缘化是采用 ResidualBlockInfo residual_block_info = new ResidualBlockInfo(f, loss_function,vector<double >{para_Pose[imu_j], para_Ex_Pose[0], para_LineFeature[linefeature_index]},drop_set); drop_set = vector{2}; 而不是像点特征一样边缘化滑窗中第0帧,drop_set = {0,2}