本项目是对直接法视觉里程计Direct Sparse Odometry的详细中文注释
License: GNU General Public License v3.0
DSO作者为Jakob Engel,该开源框架已成为直接法视觉里程计中的经典之作.
贴上源代码地址：https://github.com/JakobEngel/dso
然而由于种种原因,DSO的代码可读性较差.我关注的不少博主开了DSO这个坑之后 过了不久就不更新了(sad)
相比于ORB-SLAM框架在国内有非常多的参考资料和讲解，针对DSO的系统讲解和详细的代码注释少之又少.
因此经过学习后,我尝试给DSO的代码写一些详细的中文注释，同时后续也会自己发一些博客来谈谈我对DSO的一些原理介绍以及代码流程的梳理
本项目只是对原项目src文件夹下的源文件代码进行注释 原项目的cmake文件 第三库文件就不上传了
本人水平有限,难免有疏漏之处 欢迎各位大佬提issue或者私信和我交流呀
wincent桑为什么不用家乡话翻译
DSOを日本語で翻訳してもらえませんか
从代码中分析看H1的对角线前三项是translation 后三项是rotation，而wM的对角线前三项是rotation的尺度因子，后三项式translation的尺度因子。这里的不一致是不是搞错了呢
这还带来了对增量方程H和b矩阵的位移部分添加了一些权重和新项，这又是为什么呢？alphaEnergy是如何影响H和b的？H和b又和位移大小有什么关系呢？
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