bool VisualOdometry::checkEstimatedPose()
{ // check if the estimated pose is good if ( num_inliers_ < min_inliers_ ) { cout<<"reject because inlier is too small: "<<num_inliers_<<endl; return false; } // if the motion is too large, it is probably wrong Sophus::Vector6d d = T_c_r_estimated_.log(); if ( d.norm() > 5.0 ) { cout<<"reject because motion is too large: "<<d.norm()<<endl; return false; } return true;}
这里
Sophus::Vector6d d = T_c_r_estimated_.log();
d.norm() > 5.0
旋转矩阵归一化>5.0是啥意思。