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[Question] Weights calculation #2

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adizhol opened this issue Mar 2, 2021 · 0 comments

adizhol commented Mar 2, 2021

Hi,
I apologize if this is a basic question - why are the weights calculated as in

simple_dvo/src/image_alignment.cpp

Line 279 in ff1e04c

    
           void  DirectImageAlignment::weighting(Eigen::VectorXf &residuals, Eigen::VectorXf &weights) {

?
From the DVO paper it should be log(p(r))/r where p is t-distribution and r are the residuals

Thanks

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