qpc001
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qpc001
The camera intrinsic [cx] and [cy] is useless in this demo.
in this line: ``` Phi_tr.block(3, 0, 3, 3) = -R_3D.transpose() * skew_x(R_3D.transpose() * (new_p - p_3D)); ``` I think `new_p` is equal to `(p_3D + R_3D.transpose()*v*dt)`, then the line comes...
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