g2o使用记录
class VertexPose : public g2o::BaseVertex<6, Sophus::SE3d> {
class EdgeProjection : public g2o::BaseUnaryEdge<2, Eigen::Vector2d, VertexPose> {
_jacobianOplusXi
<< -fx / Z, 0, fx * X / Z2, fx * X * Y / Z2, -fx - fx * X * X / Z2,
原创
2020-07-23 18:34:31 ·
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