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borglab / gtsam

GTSAM is a library of C++ classes that implement smoothing and mapping (SAM) in robotics and vision, using factor graphs and Bayes networks as the underlying computing paradigm rather than sparse matrices.
http://gtsam.org
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Bundle Adjustment Landmark Visibility #1212

Closed goktugyildirim closed 2 years ago

goktugyildirim commented 2 years ago

Hello, I'm a dummy for graph optimization and my aim is to solve the bundle adjustment problem incrementally. My question is about points visibility. All landmarks should be visible from all camera poses? When I try to add some landmark that is not visible all views, optimization, or update function is stuck. How can I solve this problem? Can you help me?

dellaert commented 2 years ago

As indicated, this type of question is more for the GTSAM user group. But, no, landmarks do not have to be visible from all poses. Just from enough such that dim(measurements)>=dim(point), OR you have a prior on the point.