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gaoxiang12 / slambook2

edition 2 of the slambook
MIT License
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Two questions on ceres BA in CH9 #296

Open C-H-Chien opened 8 months ago

C-H-Chien commented 8 months ago
  1. Why do we need to scale up/down reconstructed points and camera centers? Why did the author not scale back after BA is finished?
  2. Why do we need to "perturb" before the BA problem starts?