crystalascii
crystalascii
ch6 g2oCurveFitting.cpp main函数里面 //每个误差项优化变量维度为3，误差值维度为1 typedef g2o::BlockSolver BlockSolverType; 这里说的误差值维度为1，我将这里的设置为，结果答案一样。 是否说明在一元边里面，第二个参数值可以忽略，不知道这样的理解是不是对的？
谢谢高博的答复，确实如高博所说的，在解决不需要用到Pose和Landmark的问题，比如曲线拟合时，这两个参数让人有点摸不着头脑。个人感觉g2o的官方支持文档做的不是太好，只能依靠摸索着前进。
@gaoxiang12 针对@ss2lyf提出的问题点1，经测试确实是存在的。旋转之后的点会跑到边界之外。如果不加限制的话，会出现访问越界而造成的段错误提示。
@tomgasper Thanks for your reply. I add some codes here in this function to fix this issue. It seems that works. How do you think about that? `void ComputeORB(const cv::Mat...
Thank you, tomgasper! It's a good suggestion, but how can I decide what value to add, like you add 7 to the boundary?
Aha!!! Thanks again for your detailed explanation, tomgasper. After you draw the schematic plot, I found that I can understand what you said now.