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关于两步LM优化的代码实现 #2

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wangguanbei opened this issue Sep 3, 2019 · 1 comment

wangguanbei commented Sep 3, 2019

感觉代码里对corner和surf点的求导计算都汇总在了coeffSel里，LM优化直接得到六个自由度，并非像论文所说的分两步，是吗？

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wykxwyc commented Oct 8, 2019

感觉代码里对corner和surf点的求导计算都汇总在了coeffSel里，LM优化直接得到六个自由度，并非像论文所说的分两步，是吗？

论文中说的两步优化应该是在featureAssociation.cpp文件中实现。

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