slambook2

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请问一下这个Mat d = y2.t() * t_x * R * y1;是怎么推导的呀，我看书上说根据三角测量很容易得出深度，但是我看代码里面这样写，不知道如何推导的

YZCOrange

In line 79, // 画出连线 (Draw the lines connecting the poses) parts, I think for statement should be changed : `for (size_t i = 0; i < poses.size(); i++)` to...

syt06162

ch3 visualizeGeometry.cpp Display Issue

1

I can build, cmake and run the program (both plotTrajectory.cpp and visualizeGeometry.cpp) without issue except no object will display in the window. Click and dragging the mouse in the window...

Lakaai

视觉slam14讲书中安装的是opencv-3.1.0，但是版本过低问题很多，我下载了opencv-3.4.14，但是出现了项目版本与实际安装版本不符问题，希望可以提供一些解决方法，万分感谢！

kate88xt

Hi there, not 100% sure but it seems that equation (3.15) `R = cos θI + (1 − cos θ) nnT + sin θn∧` should be without the `cos θ`...

MichaelRazum

ch3 plotTrajectory segmentation fault

6

In the cloned repo, with Paligon built that comes with the repo I build the plotTrajectory.cpp as follows: ``` cd slambook2/ch3/examples mkdir build cd build cmake .. make cd ../.....

nofreewill42

ch13讲课后作业

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谢谢高翔老师的代码 在第13讲的课后作业中有提到加入回环检测模块，请问有代码让小白参考参考吗，万分感谢

qqstar-423

ch6代码注释中对于gaussNewton中雅可比的定义不一致

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在代码注释中，对于J的定义是一个vector3d，所以Hession应该等于J*J^T，但是在注释32行注释中写反了。此外在正文128页中对f(x+▲x）展开中，说J^T为f(x)关于x的导数，为n×1的列向量，但应该是J为列向量，转置后为1×n的row向量。

YunjuanSUN

ch8 optical_flow.cpp bias, jacobian calculate issue

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optical_flow.cpp ....... At line 229 and 238, calculate the Jacobian using central difference for derivative and times -1 for the opposite direction of gradient for iterative minimizing is fine to...

jhengyilin

qt5 g2o_viewer can not display sphere problem

1

HouBiaoLiu