This is about optimizering two cameras which has thire own K&D, but no accurate Transform between them, and we have no condition to calibrate these two cameras.
The main idea is from ORB_SLAM2, it looks like tracking two or more stereo images so that we can caculate the Transform, and using many ORB KeyPoints to optimizer it.
recode and readme
- Separate the Mobocular.cpp into many class for better reusing
- Extract the io from the system, and code a test.cpp for example using
- Add check, check the result
- Add expand io for more data