This package is used to optimize the Rotation of the stereo camera's extrinsic. It is rewritten from lvio-fusion. Usually, we use RANSAC and the 8-point method for calibration, but those methods are not stable in practical application. To fix this problem, I implemented a non-linear optimization method based on the distance between the matching point and the epipolar line as the cost. This method does not require a calibration board and works in a random environment, also the whole process will be completed quickly.

• Modify the configuration
• roslaunch stereo_ext_opt bupt.launch

The green lines show the stereo matchs; The red lines show 2-D points re-projected from triangulated landmarks. Green lines and red lines almost coincide.(The blue lines represents the epipolar line)