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HKUST-Aerial-Robotics / VINS-Mono

A Robust and Versatile Monocular Visual-Inertial State Estimator
GNU General Public License v3.0
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[Fixme] InitialEXRotation::solveRelativeR #398

Open qiaozhijian opened 2 years ago

qiaozhijian commented 2 years ago

https://github.com/HKUST-Aerial-Robotics/VINS-Mono/blob/dc62ec4cfdb9c420c729524c86a32de4e6759088/vins_estimator/src/initial/initial_ex_rotation.cpp#L79

Should it be "findEssentialMat"? Because I notice ll and rr are normalized coordinates.