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ApdowJN / Stereo-NEC

The official repository of our ICRA 2024 paper "Stereo-NEC: Enhancing Stereo Visual-Inertial SLAM Initialization with Normal Epipolar Constraints".
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ask where I can find the corresponding code for the 3-DOF BA #7

Closed yinjhhust closed 5 months ago

yinjhhust commented 5 months ago

Thank you for open-sourcing your work. Stereo-NEC is excellent. May I ask where I can find the corresponding code for the 3-DOF BA?

ApdowJN commented 5 months ago

Please refer to https://github.com/ApdowJN/Stereo-NEC/blob/c08452fe3bf6741e1c72142ec88b72f5cf2c731f/src/LocalMapping.cc#L1350 and https://github.com/ApdowJN/Stereo-NEC/blob/c08452fe3bf6741e1c72142ec88b72f5cf2c731f/src/G2oTypes.cc#L808 .