zlthinker / stba Goto Github PK

Hi Zhou Lei! Thank you for your time, I would like to inquiry that if the code in this repository is corresponding with only STBA-fixed in the paper? (Sorry I am a beginner of c++ not good at parsing the code... and I cannot locate the code doing stochastic clustering) And the MCMCSampling implementation is missed in the code.

Besides, is it convenient for you to provide the preprocessing script to convert 1dsfm data to the input of STBA? Thanks!

I have a math problem with the equation at the last line of page 8 in the paper .

Atv = -At(A H.inv At).inv A H.inv Jt f

Typically, when I approximate H with diag(H), this will happen

Atv = -At(A Hinv At)inv A H.inv Jt f
= -At (At.inv H A.inv) A H.inv Jt f
= -Jt f

Put it into eq 9 and I will get delta X = 0, which apparently is incorrect.

Would you let me know what is wrong with my mathematics?