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Match without filter/jiheyanzheng calculate & decompose essential matrix trangulate 3D points & add MapPoint
Where is your brain?
track lost after ~200 frames
drift after ~40 frames
…known reasons && debug with gdb
excitedly find viewer helpful for debug! lol
tracking feature with LK optic flow cause failure!
match too few mappoints
still track lost
seems no improvement
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FrontEnd almost done!