/MarkerBA

Marker Bundle Adjustment With Rectangle Planar Constraint

Primary LanguageMakefileGNU General Public License v2.0GPL-2.0

MarkerBA

You can run this demo code to learning how can we use a planar marker in bundle adjustment with planar and rectangle constraint.

You can find the math detail in note file

In order to save the plannar constraint, The Marker is paramter with a Lie se3 instead of using conner coordinates.

![marker_se3](https://github.com/HeYijia/MarkerBA/blob/master/note/m.png?raw=true)