Closed sunghoon031 closed 8 years ago
HI,
Thank you for your interest. Regarding the first question, It seems I made a mistake when I programmed it, I should have used W and not W^2, I will update it very soon, thank you!!
Regarding the second question, I used the robust cost function called 'Geman-McClure'. I obtained good results in sequences with big occlusions and this is the reason why I finally used this one, but other ones like Tukey's may also work.
Best regards,
Alejo.
I see. Geman-McClure cost function was in the very link I was looking at XD Thank you for the reply!
In SemiDenseTracking.cpp "gauss_newton_ic" function, there is a following code:
And in "optimize_camera" function, right after performing "gauss_estimation", you run the following code:
Here are my questions:
Thanks in advance and I will look forward to your reply ! :+1: