Open SIIYIIX opened 3 years ago
第二版书中的代码是： _jacobianOplusXi.block<3,3>(0,0 )= -Eigen::Matrix3d::Identity(); _jacobianOplusXi.block<3,3>(0,3 )= Sophus::SO3::hat(xyz_trans);
运行后的结果： T= 0.886634 0.141486 -0.440298 -2.14587 -0.460557 0.356687 -0.812811 1.27016 0.0420467 0.923448 0.381413 -0.437775 0 0 0 1
p1 = [-0.0374123, -0.830816, 2.7448] p2 = [-0.0111479, -0.746763, 2.7652] (R*p2+t) = [-3.478918421023443; -1.238652237620354; -0.07315676832163542]
p1 = [-0.243698, -0.117719, 1.5848] p2 = [-0.299118, -0.0975683, 1.6558] (R*p2+t) = [-3.153924541117064; 0.02726650578977896; 0.0910929142018716]
p1 = [-0.627753, 0.160186, 1.3396] p2 = [-0.709645, 0.159033, 1.4212] (R*p2+t) = [-3.378312119547638; 0.4985489194350056; 0.2213095617358987]
p1 = [-0.323443, 0.104873, 1.4266] p2 = [-0.399079, 0.12047, 1.4838] (R*p2+t) = [-3.135972676758195; 0.2908789236581375; 0.2226335813217177]
p1 = [-0.627221, 0.101454, 1.3116] p2 = [-0.709709, 0.100216, 1.3998] (R*p2+t) = [-3.377267677482356; 0.4949932661256665; 0.1588305946736539]
可以发现验证结果完全不对！
正确代码应该是： _jacobianOplusXi.block<3,3>(0,3 )= -Eigen::Matrix3d::Identity(); _jacobianOplusXi.block<3,3>(0,0 )= Sophus::SO3::hat(xyz_trans);
即把单位矩阵和反对称矩阵换个位置 但是我的理解和书上本来的顺序是一致的即e对ξ的求导顺序应该是书上程序的顺序，希望有大佬能解答一下！
还有个小问题： bundleAdjustment( pts1, pts2, R, t )函数中的R，t没有实际赋值，验证时采用的是 pose_estimation_3d3d ( pts1, pts2, R, t )求出的R和t
第二版书中的代码是：
_jacobianOplusXi.block<3,3>(0,0 )= -Eigen::Matrix3d::Identity(); _jacobianOplusXi.block<3,3>(0,3 )= Sophus::SO3::hat(xyz_trans);
运行后的结果： T= 0.886634 0.141486 -0.440298 -2.14587 -0.460557 0.356687 -0.812811 1.27016 0.0420467 0.923448 0.381413 -0.437775 0 0 0 1
p1 = [-0.0374123, -0.830816, 2.7448] p2 = [-0.0111479, -0.746763, 2.7652] (R*p2+t) = [-3.478918421023443; -1.238652237620354; -0.07315676832163542]
p1 = [-0.243698, -0.117719, 1.5848] p2 = [-0.299118, -0.0975683, 1.6558] (R*p2+t) = [-3.153924541117064; 0.02726650578977896; 0.0910929142018716]
p1 = [-0.627753, 0.160186, 1.3396] p2 = [-0.709645, 0.159033, 1.4212] (R*p2+t) = [-3.378312119547638; 0.4985489194350056; 0.2213095617358987]
p1 = [-0.323443, 0.104873, 1.4266] p2 = [-0.399079, 0.12047, 1.4838] (R*p2+t) = [-3.135972676758195; 0.2908789236581375; 0.2226335813217177]
p1 = [-0.627221, 0.101454, 1.3116] p2 = [-0.709709, 0.100216, 1.3998] (R*p2+t) = [-3.377267677482356; 0.4949932661256665; 0.1588305946736539]
可以发现验证结果完全不对！
正确代码应该是： _jacobianOplusXi.block<3,3>(0,3 )= -Eigen::Matrix3d::Identity(); _jacobianOplusXi.block<3,3>(0,0 )= Sophus::SO3::hat(xyz_trans);
即把单位矩阵和反对称矩阵换个位置 但是我的理解和书上本来的顺序是一致的即e对ξ的求导顺序应该是书上程序的顺序，希望有大佬能解答一下！
还有个小问题： bundleAdjustment( pts1, pts2, R, t )函数中的R，t没有实际赋值，验证时采用的是 pose_estimation_3d3d ( pts1, pts2, R, t )求出的R和t