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rpng / R-VIO2

Square-Root Robocentric Visual-Inertial Odometry with Online Spatiotemporal Calibration
https://ieeexplore.ieee.org/document/9830847
GNU General Public License v3.0
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Different Between PointsForRansac and MatchesForRansac #8

Closed gxyu-star closed 8 months ago

gxyu-star commented 8 months ago

Dear author, I found there is a different processing between PointsForRansac and MatchesForRansac in your code. Points in PointsForRansac are normalized while points in MatchesForRansac aren't. Is there a reason for this different?

huaizheng commented 8 months ago

Hi, thanks for catching this bug. Both should be normalized before being passed to RANSAC. Please feel free to push a fix for that.