lturing

hello, thank you very much. I have a question about the Jacobian matrix in [MLPnp](https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/master/src/MLPnPsolver.cpp#L1046). Does the Jacobian matrix come from the partial derivative of the eq(11) in [the origin...

firstly, thanks for this great work! recently, i read imu initialized codes, i find some questions likes [here](https://github.com/zju3dv/PVIO/blob/master/pvio/src/pvio/core/initializer.cpp#L268), take an example A.block(i * 6, 0) = -0.5 * delta.t *...

according to "The pixels within the same 2D bounding box are assigned with the same depth label of the corresponding object", so if using image segmentation, the result will better?

firstly, thanks for this great work! recently, i read imu initialized codes, i find some questions likes [here](https://github.com/zju3dv/RLP_VIO/blob/master/pvio/src/pvio/core/initializer.cpp#L268), take an example A.block(i * 6, 0) = -0.5 * delta.t *...

how to publish stereo rectified color image for left and right camera in 400P?

2

hi, I have OAK-D-SR, which has camera OV9782 and support rgb. the default rectified stereo publish gray-scale image for left and right (depthai_examples/src/stereo_inertial_publisher.cpp). for my application, i need the rectified...