What is the point of mpInitializer?

UZ-SLAMLab / ORB_SLAM3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM

GNU General Public License v3.0

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What is the point of mpInitializer? #83

Open cgringmuth opened 4 years ago

cgringmuth commented 4 years ago

https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/9ddba33c0e3591159691c4ce8f06afa1041142e4/include/Tracking.h#L243

mpInitializer seems never be used right? It is just created/deleted. Is it just some left over/dead code from ORB_SLAM2 or am I missing something?

jj-gomez commented 4 years ago

As I mentioned in other issues, we are aware of some problem with monocular initialization. This is some dead code we left intentionally for future experiments we are running for a better monocular initialization. This will likely disappear in a future version (hopefully during this month).