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princeton-vl / DROID-SLAM

BSD 3-Clause "New" or "Revised" License
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Understanding the function adjSE3 #88

Closed songlin closed 1 year ago

songlin commented 1 year ago

Hi,

Thank you for sharing this great project. I am reading the implementation but had a hard time understanding the function adjSE3 here.

https://github.com/princeton-vl/DROID-SLAM/blob/7234a93d8297765677a6df144e901e8a01c7aeca/src/droid_kernels.cu#L80-L94

Could you explain in a bit more detail?

Thank you.