Bobsweetie的专栏

Sim3Solver.h/*** This file is part of ORB-SLAM2.** Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)* For more information see <https://github.com/raulmur/ORB_SLAM2>** ORB-SLAM2 is free software:

特征点的方向一致性检测直方图Histogram将两个要匹配的特征点的方向做差得到ro,将rot转换到0-360度,设定一个直方图,直方图的HISTO_LENGTH即条形的个数设置为30,0-360分布在30个bins中,即每个bin代表12度.然后根据角度差将n对匹配特征点分布在直方图中,在直方图中找出三个匹配特征点最多的直方图bin,最后将不属于这三个bin的匹配关系删除.如下图ORBmatcher.h/*** This file is part of ORB-SLAM2.** Copyri

Optimizer.h/*** This file is part of ORB-SLAM2.** Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)* For more information see <https://github.com/raulmur/ORB_SLAM2>** ORB-SLAM2 is free software: y

MapPoint.h/*** This file is part of ORB-SLAM2.** Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)* For more information see <https://github.com/raulmur/ORB_SLAM2>** ORB-SLAM2 is free software: yo

圆patchstatic float IC_Angle(const Mat& image, Point2f pt, const vector<int> & u_max)这个函数主要就是计算这个圆patch的图像矩,计算方向向量ORBextractor.h/*** This file is part of ORB-SLAM2.** Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot .

LoopClosing.h/*** This file is part of ORB-SLAM2.** Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)* For more information see <https://github.com/raulmur/ORB_SLAM2>** ORB-SLAM2 is free software:

LocalMapping.h/*** This file is part of ORB-SLAM2.** Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)* For more information see <https://github.com/raulmur/ORB_SLAM2>** ORB-SLAM2 is free software

单目初始化的类Initializer.h/*** This file is part of ORB-SLAM2.** Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)* For more information see <https://github.com/raulmur/ORB_SLAM2>** ORB-SLAM2 is free s

Tracking类主要需要搞懂四种跟踪模式:1.TrackWithMotionModel2.TrackReferenceKeyFrame3.TrackLocalMap4.RelocalizationTracking.h/*** This file is part of ORB-SLAM2.** Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)

**void KeyFrame::SetBadFlag()**函数图解KeyFrame.h/*** This file is part of ORB-SLAM2.** Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)* For more information see <https://github.com/raulmur/ORB_SLAM2&g

Frame.h文件/*** This file is part of ORB-SLAM2.** Copyright (C) 2014-2016 Raúl Mur-Artal <raulmur at unizar dot es> (University of Zaragoza)* For more information see <https://github.com/raulmur/ORB_SLAM2>** ORB-SLAM2 is free software: you