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xuhao1 / VINS-Fisheye

Fisheye version of VINS-Fusion
GNU General Public License v3.0
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cv::Mat E = cv::findFundamentalMat(ll, rr, cv::FM_RANSAC, 0.3 / 460, 0.99, mask); #24

Open DavidNY123 opened 2 years ago

DavidNY123 commented 2 years ago

In solve_5pts.cpp line 215 I think "cv::findFundamentalMat" should be "cv::findEssentialMat" I think this should use essential matrix in stead of fundamental matrix , am I right? Or do I have any misunderstanding about the code?

xuhao1 commented 2 years ago

This code is not used in VINS-Fisheye, it's for mono initialization.

DavidNY123 commented 2 years ago

This code is not used in VINS-Fisheye, it's for mono initialization.

Ok, but is it right for mono initialization?