关于线特征边缘化的问题

[Yingsheng123]

为什么对线特征边缘化是采用 ResidualBlockInfo *residual_block_info = new ResidualBlockInfo(f, loss_function,vector<double *>{para_Pose[imu_j], para_Ex_Pose[0], para_LineFeature[linefeature_index]},drop_set); drop_set = vector{2}; 而不是像点特征一样边缘化滑窗中第0帧，drop_set = {0,2}