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https://www.jianshu.com/p/02ee8f513295
https://blog.csdn.net/dahailuoa6/article/details/94429361
https://www.jianshu.com/p/e5b03cf22c80
https://blog.csdn.net/robinhjwy/article/category/7301364 https://blog.cs...
BALProblem https://blog.csdn.net/qq_40213457/article/details/80678865g2o...
https://blog.csdn.net/qq_40213457/article/details/81394093
打印Eigen矩阵https://stackoverflow.com/questions/25085465/using-gdb-with-eig...
参考:1.https://answers.ros.org/question/27655/what-is-the-correct-way-to-d...
1.Introduction 相机对特征具有较强的追踪性能,但立体视觉对外参标定的依赖过强,对于有细小误差的标定结果可能会导致较大的深度估计误差...