What kind of error optimized?

[QMonteCarlo]

Hi, thanks for your work. I've tried to compile and run your code with some effort. The Sophus version needed to compile is quite old,I have to checkout to e656e before all the .h are replaced by .hpp. Then the code works. I wonder what kind of error did you optimize? Did you also optimize the fisheye distortion parameters? What is the observation？

[z619850002]

Well, OECS is actually the abbrevation of "Online Extrinsics Correction for the Surround-view system" and it's used for the extrinsics correction of the surround-view system. The extrinsics of the surround-view system are essentially the relative pose of those fisheye cameras. The pose of a camera is of 6 DOF, 3 for the translation and 3 for the rotation, and it's always expressed in a Lie algebra form.

[z619850002]

The fisheye distortion parameters are usually considered as one part of the intrinsics of a camera. It's considered as fixed in OECS because as long as the camera has been encapsulated, the intrinsics of the camera are always much more stable than extrinsics.

[QMonteCarlo]

Thanks for your reply. I mean, did you optimize the reprojection error or anything else? what is the theory behind that?

[z619850002]

Actually our method is based on the sparse direct method, so there is no feature matching, of course no reprojection error.

[QMonteCarlo]

Thanks, I got it.