Contributor

Thanks, I am a bit worried about numerical issues due to repeated multiplication of the relative scale factor. Could we alternatively find the average scale between optimized and original registered rigs?

Contributor Author

Thanks, I am a bit worried about numerical issues due to repeated multiplication of the relative scale factor. Could we alternatively find the average scale between optimized and original registered rigs?

Done. This new approach will need access to the database cache to get the initial rig extrinsics.

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