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LSD-SLAM
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Calculation of Sim3 Jacobian #323

Open Zoltan3057 opened 5 years ago

Zoltan3057 commented 5 years ago

Hi : In g2oTypeSim3Sophus.h, how to understand the calculation of the edge's jacobian. I can't find prove equations in paper. Thanks.

void linearizeOplus()
{
    const VertexSim3* _from = static_cast<const VertexSim3*>(_vertices[0]);

    _jacobianOplusXj = _from->estimate().inverse().Adj();
    _jacobianOplusXi = -_jacobianOplusXj;
}