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第九章 0.2 0.3采用BA算法与否，结果差别不大 #267

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Yes-Jumby opened this issue Sep 22, 2020 · 0 comments

Yes-Jumby commented Sep 22, 2020 •

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对比方式是：对比PNP和BA之后的SE3【分别使用SE3将三维点投影到像素坐标系中，计算其投影误差，发现误差大部分相等，有极少数的不一样。】。是应用场景的限制，导致精度提升不明显吗？

采用的数据集是 rgbd_dataset_freiburg2_xyz rgbd_dataset_freiburg1_xyz。

NPN得到的重投影误差-BA得到的重投影误差之差，做的图

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