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urbste / MultiCol-SLAM

This repository contains a multi-fisheye camera SLAM. The underlying SLAM system is based on ORB-SLAM.
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How to generate the Jacobian matrix？ #46

Closed yangtzey closed 3 years ago

yangtzey commented 3 years ago

The function mcsJacs1 in g2o_MultiCol_vertices_edges.cpp file. The code seems to be generated using a tool. What tool did you use to generate the code? thank you very much!

urbste commented 3 years ago

Hi. I used Matlab's Symbolic toolbox to generate them.

Am Do., 21. Jan. 2021 um 13:06 Uhr schrieb yangtzey < notifications@github.com>:

The function mcsJacs1 in g2o_MultiCol_vertices_edges.cpp file. The code seems to be generated using a tool. What tool did you use to generate the code? thank you very much!

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yangtzey commented 3 years ago

thank you

yangtzey commented 3 years ago

Could you open source the Matlab code that the part of calculating the Jacobian? thank you soooooooo much!