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CoarseInitializer::trackFrame中求解增量方程前为什么要给H1和b1乘以一个对角矩阵wM #2

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akawincent opened this issue Feb 8, 2023 · 0 comments
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CoarseInitializer::trackFrame中求解增量方程前为什么要给H1和b1乘以一个对角矩阵wM #2

akawincent opened this issue Feb 8, 2023 · 0 comments
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good first issue Good for newcomers

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@akawincent
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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
@akawincent akawincent added the good first issue Good for newcomers label Mar 8, 2023
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