Yicheng Jin

I suppose that I may go wrong in params, the project broken when go into ba, I find it is because err become nan, but I just fail to find...

Here is my params, I'm so looking forward for any possible way, thanks so much! ``` %YAML:1.0 #-------------------------------------------------------------------------------------------- # Camera Parameters. Adjust them! #-------------------------------------------------------------------------------------------- Camera.type: "PinHole" # Camera calibration and...