Add covariance weighted cost functor #2880
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B1ueber2y
reviewed
Nov 3, 2024
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Thanks. Do we still want to support |
B1ueber2y
reviewed
Nov 3, 2024
I think we discussed that the overhead is minimal? We can easily bring it back, if needed. The initial concern was that this would affect the performance of the unweighted cost functions but this is not the case anymore now. |
B1ueber2y
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Nov 3, 2024
B1ueber2y
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Nov 3, 2024
sarlinpe
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Nov 3, 2024
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| ReprojErrorConstantPoseCostFunctor(const Eigen::Vector2d& point2D, | ||
| const Rigid3d& cam_from_world) |
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@ahojnnes What justifies this reordering?
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Without this change, the point2D_cov and point2D parameters are separated by the cam_from_world in the weighted covariance wrapper (both in C++ and Python).
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