about the jacobian calculation

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

394 stars 59 forks source link

about the jacobian calculation #20

Open zjtde1990 opened 6 months ago

zjtde1990 commented 6 months ago

I am wondering why oplusImpl is not implemented in the reproj_edge_line3d class, where is the Jacobian matrix computed in the image?