cv::Mat E = cv::findFundamentalMat(ll, rr, cv::FM_RANSAC, 0.3 / 460, 0.99, mask);

[DavidNY123]

In solve_5pts.cpp line 215 I think "cv::findFundamentalMat" should be "cv::findEssentialMat" I think this should use essential matrix in stead of fundamental matrix , am I right? Or do I have any misunderstanding about the code?

[xuhao1]

This code is not used in VINS-Fisheye, it's for mono initialization.

[DavidNY123]

This code is not used in VINS-Fisheye, it's for mono initialization.

Ok, but is it right for mono initialization?