it’s good to have more people looking at the math.
I think that Bar needs to get this fix in, either through your code or with the
patch he already has. It doesn’t make sense to be testing triangulation options
without this fix in place (and it’s impressive how much better the triangulation
mode is in practice, give that this error is in place)
David Lang
P.S. could you take a good look at the thoughts I had for how to do the
calibration for triangulated mode in one step
I want someone else to go over the math (and logic) to see if it really is as
good as I think it is.