Jacobi of linear residuals

[LeiXu1999]

Hi,

Can I ask you about the technical details of line residual optimization in G2O?
In the appendix of the paper, The Jacobi derivation of the line feature residuals with the pose is mentioned, But I didn't find the relevant code in the project . If the code exists in the project, can you tell me where it is?

Thank you!

[PeterFWS]

Hi,

yes, in the open-source code, for now, only utilizing the numerical jacobian (derivation calculated automatically based on the given residual).

Best,