Comments (1)
pmoulon
commented on June 25, 2024
Yes this started as a prototype and I did not got time to work on it more.
Since that for VO the best is either to do BA for relative pose to global pose, or do full BA in a small window of poses and images with measurements.
My plan was to extend a per pose FIX constraint, so we could adjust a window of images, by having some images kept as fixed to avoid the entire scene to drift, but time get missing.
Let me know if my answer make sense to you
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