Eugene Huang

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                                            Eugene Huang

Demo运行时，launch文件存在opencv报错

> 请问大家有遇到这问题吗或许你已经解决了，我遇到了相同的问题，因为我的pcd文件中不包含intensity值，lidar_camera_calib.hpp 中这段代码改掉就好 ![image](https://github.com/hku-mars/livox_camera_calib/assets/14039036/855125b3-1847-454b-a30b-033f001272f7)

F-score is lower compared to incremental reconstruction result

> I think you aligned the sparse point clouds with the lidar scan to compute the F1 score. I wonder if it may relate to the SfM results' point density....

F-score is lower compared to incremental reconstruction result

Here are additional info: ![image](https://github.com/AIBluefisher/DAGSfM/assets/14039036/873719be-c417-49e6-8408-63d30740e48c) The BA result: ![image](https://github.com/AIBluefisher/DAGSfM/assets/14039036/d089cce4-da6b-446c-a5f2-bfc5674765e7) upper one is global BA of distributed reconstruction, another is incremental reconstruction. The info of distributed reconstruction: ![image](https://github.com/AIBluefisher/DAGSfM/assets/14039036/879caae0-38f1-4736-918c-b557217693c4)

F-score is lower compared to incremental reconstruction result

> > Here are additional info: ![image](https://private-user-images.githubusercontent.com/14039036/288617633-873719be-c417-49e6-8408-63d30740e48c.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTEiLCJleHAiOjE3MDE5MTk1MTAsIm5iZiI6MTcwMTkxOTIxMCwicGF0aCI6Ii8xNDAzOTAzNi8yODg2MTc2MzMtODczNzE5YmUtYzQxNy00OWU2LTg0MDgtNjNkMzA3NDBlNDhjLnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFJV05KWUFYNENTVkVINTNBJTJGMjAyMzEyMDclMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjMxMjA3VDAzMjAxMFomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWQ2YzQyZWNhMGYzZjIwYmM1ZjExNjUzYmQwZjY1YTRlOTE5ZDgxNmZlZGMwNDM4ODQ4OTIyNzNjN2RjMzA3ZmYmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.iUHXIdEJtdnfxbQgc5Bzga1ZCi9qal6odFVrJqjhpww) The BA result: ![image](https://private-user-images.githubusercontent.com/14039036/288617763-d089cce4-da6b-446c-a5f2-bfc5674765e7.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTEiLCJleHAiOjE3MDE5MTk1MTAsIm5iZiI6MTcwMTkxOTIxMCwicGF0aCI6Ii8xNDAzOTAzNi8yODg2MTc3NjMtZDA4OWNjZTQtZGE2Yi00NDZjLWE1ZjItYmZjNTY3NDc2NWU3LnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFJV05KWUFYNENTVkVINTNBJTJGMjAyMzEyMDclMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjMxMjA3VDAzMjAxMFomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPWY1MDU1NTExM2Y4Nzk5OGFkZDQ0NTM4YWNhZjlmZDZkMTdmZjc5M2U3ODEwYTQ3MmRhMDM4ODU5NTA5N2FiMGUmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0._muoQNJ5qJF2YPmc02PdVS-QrGpIy1iYcWTwY834U0s) upper one is global BA of distributed reconstruction, another is incremental reconstruction. The info of distributed reconstruction: ![image](https://private-user-images.githubusercontent.com/14039036/288618180-879caae0-38f1-4736-918c-b557217693c4.png?jwt=eyJhbGciOiJIUzI1NiIsInR5cCI6IkpXVCJ9.eyJpc3MiOiJnaXRodWIuY29tIiwiYXVkIjoicmF3LmdpdGh1YnVzZXJjb250ZW50LmNvbSIsImtleSI6ImtleTEiLCJleHAiOjE3MDE5MTk1MTAsIm5iZiI6MTcwMTkxOTIxMCwicGF0aCI6Ii8xNDAzOTAzNi8yODg2MTgxODAtODc5Y2FhZTAtMzhmMS00NzM2LTkxOGMtYjU1NzIxNzY5M2M0LnBuZz9YLUFtei1BbGdvcml0aG09QVdTNC1ITUFDLVNIQTI1NiZYLUFtei1DcmVkZW50aWFsPUFLSUFJV05KWUFYNENTVkVINTNBJTJGMjAyMzEyMDclMkZ1cy1lYXN0LTElMkZzMyUyRmF3czRfcmVxdWVzdCZYLUFtei1EYXRlPTIwMjMxMjA3VDAzMjAxMFomWC1BbXotRXhwaXJlcz0zMDAmWC1BbXotU2lnbmF0dXJlPTZkMjkwNDhlMDRhZjhiYTVmOTQxNTUyODZmNjNmOTNjMTc2MGM3NDE1NDAyOWFiYmMzMmQwMmZkYjQ1ZTA0ZmEmWC1BbXotU2lnbmVkSGVhZGVycz1ob3N0JmFjdG9yX2lkPTAma2V5X2lkPTAmcmVwb19pZD0wIn0.T4vJUePrcS4BVv8B8EY0ATqXmL6V3F5aEkaIi70DqRM) >...