Open cggos opened 6 years ago
This is described by section 6 of the ECCV 2008 paper "Improving the agility of keyframe-based SLAM". In short, we run ESM (similar to Lucas-Kanade) to align two images to each other over SE(2).
@GeorgKlein
I can not understand the code segment below in SmallBlurryImage::IteratePosRelToTarget()
method.
1) SE2<> se2XForm = se2WfromC * se2CtoC * se2WfromC.inverse();
what does se2WfromC and se2CtoC mean and why make se2XForm in that form ?
2) v4Jac[2] = -(ir.y - irCenter.y) * v2SumGrad[0] + (ir.x - irCenter.x) * v2SumGrad[1];
what does v4Jac[2] mean and why compute it like this ?
3) dMeanOffset -= v4Update[3];
why use v4Update[3] to make dMeanOffset and compute the dFinalScore ?
On Tue, Feb 6, 2018 at 12:55 AM, Gordon Scott notifications@github.com wrote:
@GeorgKlein https://github.com/georgklein I can not understand the code segment below in SmallBlurryImage:: IteratePosRelToTarget() method.
1.
SE2<> se2XForm = se2WfromC se2CtoC se2WfromC.inverse(); what does se2WfromC and se2CtoC mean and why make se2XForm in that form ? 2.
v4Jac[2] = -(ir.y - irCenter.y) v2SumGrad[0] + (ir.x - irCenter.x) v2SumGrad[1]; what does v4Jac[2] mean and why compute it like this ? 3.
dMeanOffset -= v4Update[3]; why use v4Update[3] to make dMeanOffset and compute the dFinalScore ?
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I'm learning the PTAM code, but I cannot find the theory respond to the SmallBlurryImage::IteratePosRelToTarget() method linking https://github.com/Oxford-PTAM/PTAM-GPL/blob/master/Src/SmallBlurryImage.cc#L98-L205 I would appreciate it if you can tell me the theory or its thesis name. I am looking forward to your reply, thank you.