hku-mars / mlcc

Fast and Accurate Extrinsic Calibration for Multiple LiDARs and Cameras
GNU General Public License v2.0
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Question about lidar-camera extrinsic calibration problem and how to build residuals. #16

Open TheCuriousJoe opened 2 years ago

TheCuriousJoe commented 2 years ago

Excellent work!

I have two questions that I can't figure out.

  1. I guess E_C is as close to 0 as better, so why there is not a square or absolute operation in the below formula? 2022-06-23 15-00-42 的屏幕截图

  2. After watching Question about vpnp cost function #2, i still can't figure out the residuals' building process below, can you show me more detail or give me more reference? 2022-06-23 15-08-18 的屏幕截图

(3. What's vPnP?) Looking forward to your reply, thanks!!!