z619850002 / oecs Goto Github PK

Hi, thanks for your work. I've tried to compile and run your code with some effort. The Sophus version needed to compile is quite old,I have to checkout to e656e before all the .h are replaced by .hpp. Then the code works.
I wonder what kind of error did you optimize? Did you also optimize the fisheye distortion parameters? What is the observation？

Hi, I'm trying to test your demo. There is one thing troubles me.
I use your initial parameter, the bug shows that:
`
root@y7000p:/work/share/project/OECS/build# ./../bin/surround_multi_test
Sophus ensure failed in function 'Sophus::SO3<Scalar_, Options>::SO3(const Transformation&) [with Scalar_ = double; int Options = 0; Sophus::SO3<Scalar_, Options>::Transformation = Eigen::Matrix<double, 3, 3>]', file '/usr/local/include/sophus/so3.hpp', line 514.
R is not orthogonal:
1 -1.58727e-11 6.91096e-11
-1.58727e-11 1 2.06198e-11
6.91096e-11 2.06198e-11 1
Aborted (core dumped)

`

So, I hope to make sure, the bug causes by parameter abnormal or the wrong version of Sophus