search

PeterFWS / Structure-PLP-SLAM

[ICRA'23] The official Implementation of "Structure PLP-SLAM: Efficient Sparse Mapping and Localization using Point, Line and Plane for Monocular, RGB-D and Stereo Cameras"
GNU General Public License v3.0
408 stars 65 forks source link

Jacobi of linear residuals #12

Open LeiXu1999 opened 1 year ago

LeiXu1999 commented 1 year ago

Hi,

Can I ask you about the technical details of line residual optimization in G2O? In the appendix of the paper, The Jacobi derivation of the line feature residuals with the pose is mentioned, But I didn't find the relevant code in the project . If the code exists in the project, can you tell me where it is?

Thank you!

PeterFWS commented 1 year ago

Hi,

yes, in the open-source code, for now, only utilizing the numerical jacobian (derivation calculated automatically based on the given residual).

Best,