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计算线段重投影误差部分，为什么认为直线的投影矩阵K为单位阵 #31

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slender1031 opened this issue Apr 12, 2023 · 0 comments
Open

计算线段重投影误差部分，为什么认为直线的投影矩阵K为单位阵 #31

slender1031 opened this issue Apr 12, 2023 · 0 comments

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// 直线的投影矩阵K为单位阵
Eigen::Vector3d nc = line_c.head(3);
double l_norm = nc(0) * nc(0) + nc(1) * nc(1);
double l_sqrtnorm = sqrt( l_norm );
double l_trinorm = l_norm * l_sqrtnorm;
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