这是我上学校slam入门课的作业。数据来源于Kitti，通过对极线矫正的双目图像进行局部块匹配求解出双目图像的视差，利用非线性最小二乘恢复三维点坐标，最后统一到世界坐标系，视差结果,点云结果1,点云结果2所示。
OpenCV Eigen
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