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SpectacularAI / HybVIO

HybVIO visual-inertial odometry and SLAM system
https://arxiv.org/abs/2106.11857
GNU General Public License v3.0
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Question about jacobian in triangulation #38

Closed fushi219 closed 1 year ago

fushi219 commented 1 year ago

Hi, i am confused about the following code:

https://github.com/SpectacularAI/HybVIO/blob/main/src/odometry/triangulation.cpp#L337

Thanks a lot!

oseiskar commented 1 year ago

Hi @fushi219 . Unfortunately, we do not have the resources to use the issue tracker in this repository as a general Q&A about the algorithm details. We will not answer questions like this in the future.