[Engel+ 2017] Direct Sparse Odometry Engel, Jakob, Vladlen Koltun, and Daniel Cremers. "Direct sparse odometry." IEEE transactions on pattern analysis and machine intelligence 40.3 (2017): 611-625. [Engel+ 2017] ABSTRUCT Photometric error…

3年目くらいに書いたものだからアップデートが必要かも Eigen Rotation matrix: Eigen::Matrix3d Rotation vector: Eigen::AngleAxisd Euler angle: Eigen::Vector3d Quaternion: Eigen::Quaterniond Euclidean transform: Eigen::Isometry3d Affine transfo…