You signed in with another tab or window. Reload to refresh your session.You signed out in another tab or window. Reload to refresh your session.You switched accounts on another tab or window. Reload to refresh your session.Dismiss alert
I think this may be a bug in the program src/Matcher.cc on lines 68 to 75.The original code is as follows:
// The size of the window will depend on the viewing directionfloat r = RadiusByViewingCos(pMP->mTrackViewCos);
if(bFactor)
r*=th;
const std::vector<size_t> vIndices =
F.GetFeaturesInArea(pMP->mTrackProjX,pMP->mTrackProjY,1,nPredictedLevel-1,nPredictedLevel);
The program comment is described as "The size of the window will depend on the viewing direction",but here the size is fixed to 1 pixel. It's strange. After testing, I found that setting the size to 1.2*r makes the tracking more robust.
The modified code is as follows:
// The size of the window will depend on the viewing directionfloat r = RadiusByViewingCos(pMP->mTrackViewCos);
if(bFactor)
r*=th;
const std::vector<size_t> vIndices =
F.GetFeaturesInArea(pMP->mTrackProjX,pMP->mTrackProjY,1.2*r,nPredictedLevel-1,nPredictedLevel);
The text was updated successfully, but these errors were encountered:
I think this may be a bug in the program
src/Matcher.cc
on lines 68 to 75.The original code is as follows:The program comment is described as "The size of the window will depend on the viewing direction",but here the size is fixed to 1 pixel. It's strange. After testing, I found that setting the size to
1.2*r
makes the tracking more robust.The modified code is as follows:
The text was updated successfully, but these errors were encountered: