zsustc

No error, but 0 surfels and 0 triangles

1

Hi, Thanks very much for your code sharing! I have successfully complied the project in my ubuntu16.04. First, we tested the tum-data, the program ran well and output dense mesh....

ref_->T_c_w * T_c_w_estimated_.inverse() 求解的是哪一个坐标转换

2

https://github.com/gaoxiang12/slambook/blob/4ecaa046952e6384c39c5d2b0049d6af7dda91da/project/0.4/src/visual_odometry.cpp#L244 ref_->T_c_w代表是世界坐标系到ref帧相机坐标系的转换T1； T_c_w_estimated_代表的是ref帧相机坐标系（即curr_的世界坐标系）到curr_相机坐标系的转换T2； T1*T2代表的是curr_相机坐标系到ref世界坐标系的转换； T1*T2.inverse()呢，空间上是什么转换？还是说代表了其他含义

[ 84%] Building CXX object CMakeFiles/dso.dir/src/IOWrapper/Pangolin/KeyFrameDisplay.cpp.o [ 88%] Building CXX object CMakeFiles/dso.dir/src/IOWrapper/Pangolin/PangolinDSOViewer.cpp.o [ 92%] Linking CXX static library lib/libdso.a [ 92%] Built target dso Scanning dependencies of target dso_dataset [...