Open njfugit opened 1 month ago
你好,在源码中const float invSigma2 = 128 * imDepth.at<float>(kp->pt.y, kp->pt.x) * imDepth.at<float>(kp->pt.y, kp->pt.x) / (fx); 在这里的128/fx,我不是很能理解这里的含义,你能帮我解答一下吗?
const float invSigma2 = 128 * imDepth.at<float>(kp->pt.y, kp->pt.x) * imDepth.at<float>(kp->pt.y, kp->pt.x) / (fx);
你好,在源码中
const float invSigma2 = 128 * imDepth.at<float>(kp->pt.y, kp->pt.x) * imDepth.at<float>(kp->pt.y, kp->pt.x) / (fx);
在这里的128/fx,我不是很能理解这里的含义,你能帮我解答一下吗?