Huang, Kun

Bug Report: SetParameterBlockVariable will destroy the ordering

3

Reproduction Code (Just replace this main function in examples/simple_bundle_adjuster.cc): ``` int main(int argc, char** argv) { google::InitGoogleLogging(argv[0]); if (argc != 2) { std::cerr

segment error when testing TUM !!

7

./Examples/RGB-D/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml /home/huangkun/ORB_SLAM2/Examples/RGB-D/rgbd_dataset_freiburg1_xyz Examples/RGB-D/associations/fr1_xyz.txt ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza. This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to...

why does autodiff produce different jacobian w.r.t analytic, but give the same result

4

```cpp struct QuatMulVec { QuatMulVec(const Eigen::Vector3d& v, bool use_eigen) : v_(v), use_eigen_(use_eigen) {} template static Eigen::Vector3 Eval( const Eigen::Quaternion& Q, const typename Eigen::Vector3::PlainObject& v) { const auto& x = Q.x();...

Wrong indexing in induced_flow function

1

`ht, wd = disps.shape[2:]` should be `ht, wd = disps.shape[-2:]`