Hi, @zachteed, thank you for your wonderful work!
My understanding is that dx and dz calculated by schur_solve can be directly used to update poses and disps. Why use scatter_sum function? I think it will make a pose or disp repeatedly updated many times according to the co-visibility graph.
Hi, @zachteed, thank you for your wonderful work! My understanding is that dx and dz calculated by schur_solve can be directly used to update poses and disps. Why use scatter_sum function? I think it will make a pose or disp repeatedly updated many times according to the co-visibility graph.