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在Optimizer.cc的943行,poseoptimization函数中,为何在SLAM with respect a rigid body中添加e->mMovingProbability = pMP->GetMovingProbability(),双目和单目为什么没添加: //Conventional SLAM if (!pFrame->mpCamera2) { // Monocular observation if (pFrame->mvuRight[i] < 0) { ........ ........ ........ } else // Stereo observation { ........ ........ ........ } } //SLAM with respect a rigid body else { ........ ........ ........
e->mMovingProbability = pMP->GetMovingProbability(); ........ ........ ........ } else { //Right camera observation ........ ........ ........ } }
The text was updated successfully, but these errors were encountered:
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在Optimizer.cc的943行,poseoptimization函数中,为何在SLAM with respect a rigid body中添加e->mMovingProbability = pMP->GetMovingProbability(),双目和单目为什么没添加:
//Conventional SLAM
if (!pFrame->mpCamera2) {
// Monocular observation
if (pFrame->mvuRight[i] < 0) {
........
........
........
} else // Stereo observation
{
........
........
........
}
}
//SLAM with respect a rigid body
else {
........
........
........
The text was updated successfully, but these errors were encountered: