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关于ch8多层光流中一直沿用原始深度值的疑惑 #290

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NirvanaDragon opened this issue Oct 16, 2023 · 0 comments
Open

关于ch8多层光流中一直沿用原始深度值的疑惑 #290

NirvanaDragon opened this issue Oct 16, 2023 · 0 comments

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@NirvanaDragon
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DirectPoseEstimationSingleLayer(pyr1[level], pyr2[level], px_ref_pyr, depth_ref, T21);
在这行代码中，特征点的像素坐标值进行了尺度缩放，但是深度值却没有，在计算雅可比的时候，无论哪一层的特征点坐标仍然采用depth_ref的深度值进行反投影，那么最终得到相机坐标系下的坐标值和金字塔那一层图像像素坐标的反投影值是否真的相等呢，以该坐标值求解梯度方向是否正确呢，还请高博或各位大佬指导一下！
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