Comments (1)
At a quick glance, that dual conic doesn't seem to be well defined. The mathematics for projecting dual quadrics should be well defined even at edge cases, but perhaps there is something we have missed. Could you please let us know what the parameters of your quadric, camera pose and calibration were during this test?
What might be happening, is that the naïve data association is attempting to look at a quadric outside the cameras current view. Typically we expect this to result in an open conic that stretches across the screen and a large bounding box that exists mostly outside the screen, but the math should hold up.
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Related Issues (20)
- Camera pose estimate HOT 1
- dC_dx problem
- Truncated bounding box measurement model
- Release to PyPi HOT 1
- Add a plug and play QuadricSLAM example for use with a RealSense D435i HOT 1
- Add add-on to use QuadricSLAM with BenchBot (synthetic data) HOT 1
- Release through a Conda Forge feedstock HOT 1
- Error when executing `pip install .` HOT 1
- `realsense.py` produces a `gtsam::IndeterminantLinearSystemException` with more than one landmark HOT 2
- Local rebuilds fail, but clean builds work HOT 2
- Error after (pip) installation HOT 1
- Error during installation HOT 3
- Something wrong
- Library crashes with "Illegal Instruction (core dumped)" HOT 4
- What is the coordinate system for gtsam-quadrics?
- make error HOT 1
- Installing with gtsam-4.1.0 HOT 2
- When using gtsam build with this repository it gives Point2 attribute not found HOT 5
- Python QuadricCamera.project() not working HOT 2
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