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RGBD Odometry fixes #248

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Woohyun-Kang wants to merge 3 commits into mp3guy:master from Woohyun-Kang:rgbdOdometry_fix

Woohyun-Kang commented Nov 24, 2024 •

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I spotted and fixed some minor bugs in RGBD odometry implementation.

Code for computing photometric error RMS is missing a parenthesis
initICP from depth map is missing copy to vmaps_tmp, used by initRGB to populate the depth map. Result is nextDepth containing the same depth map as lastDepth
Weight for summing ICP and RGBD linear system is squared for A. I adjusted covariance threshold values too

Woohyun-Kang added 3 commits

November 25, 2024 03:20


          fix operator precedence bug

ca0672d


          add missing vertex buffer copy

8d8da24


          odometry linear system weighting bug fix

f25ce53

related parameters adjusted accordingly

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