You signed in with another tab or window. Reload to refresh your session.You signed out in another tab or window. Reload to refresh your session.You switched accounts on another tab or window. Reload to refresh your session.Dismiss alert
I was trying to do double-window optimization with ICE-BA, since it is the most efficient & incremental solver so far. However, according to my quick glance of the code, it doesn't seem to support fixed keyframe in local BA (and map points thereafter, because of the inverse-depth parameterization).
I was wondering if there's any (relatively) easy modification to fix a subset of keyframes in local BA, while the rest of them are flexible. Appreciate any suggestion!
The text was updated successfully, but these errors were encountered:
I was trying to do double-window optimization with ICE-BA, since it is the most efficient & incremental solver so far. However, according to my quick glance of the code, it doesn't seem to support fixed keyframe in local BA (and map points thereafter, because of the inverse-depth parameterization).
I was wondering if there's any (relatively) easy modification to fix a subset of keyframes in local BA, while the rest of them are flexible. Appreciate any suggestion!
The text was updated successfully, but these errors were encountered: