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闭环约束雅可比矩阵 #15

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yunliuh opened this issue Jun 6, 2024 · 0 comments

yunliuh commented Jun 6, 2024

请问为什么论文和代码中闭合关键点因子的雅可比矩阵中关于位置增量的偏导是对共视点的载体坐标p1和p1求导，而不是对位姿中的平移向量t1和t2求导

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