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RGBD Odometry fixes #248

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RGBD Odometry fixes #248

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@Woohyun-Kang 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

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