WebFeb 22, 2024 · a. 在当前帧中匹配关键帧中的地图点,用于TrackReferenceKeyFrame和Relocalization。 int ORBmatcher::SearchByBoW (KeyFrame* pKF,Frame &F, vector &vpMapPointMatches); b. 在当前关键帧中匹配所有关键帧中的地图点,用于Loop Closing。 int ORBmatcher::SearchByBoW (KeyFrame *pKF1, KeyFrame … Web知乎,中文互联网高质量的问答社区和创作者聚集的原创内容平台,于 2011 年 1 月正式上线,以「让人们更好的分享知识、经验和见解,找到自己的解答」为品牌使命。知乎凭借认真、专业、友善的社区氛围、独特的产品机制以及结构化和易获得的优质内容,聚集了中文互联网科技、商业、影视 ...
「ORB_SLAM2源码解读」之函数ORBmatcher…
WebCreate an ORB word bag mpVocabulary = new ORBVocabulary (); // step1.3. Create a critical frame database, mainly saving the ORB descriptor sub-inverted index (ie, looking for keyframes with the descriptor according to the description sub) mpKeyFrameDatabase = new KeyFrameDatabase (*mpVocabulary); // step1.4. Create a map mpMap = new Map ... Web50 // Project MapPoints tracked in last frame into the current frame and search matches. deutsche offshore consult
ORBSLAM2源码学习(6) ORBmatcher类 - CSDN博客
WebORB-SLAM(八)ORBmatcher 特征匹配. 该类负责特征点与特征点之间,地图点与特征点之间通过投影关系、词袋模型或者Sim3位姿匹配。. 用来辅助完成单目初始化,三角化恢复 … WebJan 15, 2024 · A tag already exists with the provided branch name. Many Git commands accept both tag and branch names, so creating this branch may cause unexpected behavior. WebJul 31, 2024 · Thanks. I am having a more serious and urgent problem (I think it is related to cmake) when cross compiling. The problem is I think I am using only the library from RASPBIAN_ROOTFS, where I resync usr and lib from pi4, deutsche office alternative