How to deal with information / correlation matrix in forward()

Question

How to deal with information / correlation matrix in forward()

opened this issue 2 years ago · comments

Hello_World · Answer 1 · Wed Feb 16 2022 17:04:50 GMT+0800 (China Standard Time)

Thanks for your feedback!
Currently, the information matrix is not supported. We are currently working on re-constructing MegBA and supporting the analytic Jacobian, which will make MegBA reach higher performance and lower memory cost. The support for the information matrix is on our to-do list, we will get on it as soon as possible.
Thanks,
Jie

Went-Liang · Answer 2 · Wed Jun 08 2022 15:40:28 GMT+0800 (China Standard Time)

Thank you for your interest in our project.
MegBA supports information matrix in the latest release. (Please check PR: #25)
Specifically, examples/BAL_Double.cpp Line 212 (https://github.com/MegviiRobot/MegBA/blob/main/examples/BAL_Double.cpp#L212) shows how to implement this feature when adding new edges.
Thanks,
Liang