For the function "rotateAndNormalizePoint", what is its function?

[tflucas]

Hello, for the function "rotateAndNormalizePoint", what is its function. I guess it is utilized to process rolling shutter camera.

[frobelbest]

Yes. It is to correct rolling shutter effect with given rotation and normalize the point to unit vectors.

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On Sat, Jan 18, 2020 at 5:27 PM tflucas ***@***.***> wrote: Hello, for the function "rotateAndNormalizePoint", what is its function. I guess it is utilized to process rolling shutter camera. — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#5?email_source=notifications&email_token=AAHQGIDPMADY43ZJ33F5EVTQ6OT75A5CNFSM4KIWJYMKYY3PNVWWK3TUL52HS4DFUVEXG43VMWVGG33NNVSW45C7NFSM4IHER6YA>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/AAHQGIDSB54GUVPVHT3ECALQ6OT75ANCNFSM4KIWJYMA> .

[tflucas]

Hello, I have rewritten the code of initialization.
When I test the code in EuRoC dataset, the second largest singular value of the matrix M is not 100x smaller than the largest singular value.
I can not find where the problem is. Could you give me some advice? Thank you.