本节主要学习ORB_SLAM2中的双目立体匹配算法的实现过程
主要在frame.cc文件中
主要过程:
- ID自增
mnId=nNextId++;
- 计算图像金字塔的参数
mnScaleLevels = mpORBextractorLeft->GetLevels();
mfScaleFactor = mpORBextractorLeft->GetScaleFactor();
mfLogScaleFactor = log(mfScaleFactor);
mvScaleFactors = mpORBextractorLeft->GetScaleFactors();
mvInvScaleFactors = mpORBextractorLeft->GetInverseScaleFactors();
mvLevelSigma2 = mpORBextractorLeft->GetScaleSigmaSquares();
mvInvLevelSigma2 = mpORBextractorLeft->GetI