Questions about the update of di when dynamic margin happened.

RonaldSun / VI-Stereo-DSO

Direct sparse odometry combined with stereo cameras and IMU

387 stars 124 forks source link

Questions about the update of di when dynamic margin happened. #24

Open alalagong opened 4 years ago

alalagong commented 4 years ago

Hi, thanks for your oepn source.

I read through your code and I have a question about dynamic margin. I don't understand the update of scale interval di in formula(17) in dynamic margin. It means min value of d_min_j when s(i)/s(i-1)<di ? where the d_min_j come from? And I'm sorry I can't understand the code about this in VI-Stereo-DSO.

Thank you !

RonaldSun commented 4 years ago

In my view, d_min_j is min value of d at time j, which is s(j)/s(j-1) or sqrt(1.1).