VINS-MONO源码阅读(三)滑动窗口与边缘化方法
void MarginalizationInfo::preMarginalize(){ for (auto it : factors) { it->Evaluate(); std::vector<int> block_sizes = it->cost_function->parameter_block_sizes(); for (int i = 0; i < static_cast<int>.
原创
2020-10-11 15:55:59 ·
1000 阅读 ·
0 评论