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YWL0720 / YOLO_ORB_SLAM3

This is an improved version of ORB-SLAM3 that adds an object detection module implemented with YOLOv5 to achieve SLAM in dynamic environments.
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结合YOLO检测框剔除动点时的坐标问题 #37

Open Suhaotian1 opened 2 months ago

Suhaotian1 commented 2 months ago

请问为啥检测框在剔除动点的时候要it->pt.x += minBorderX; vit->pt.y += minBorderY;vit->pt *= scale;？我的理解是检测框是在原图坐标系下，特征点在该行函数时是扩充了3像素的坐标系，不是直接乘以缩放系数恢复到原图坐标系就可以开始剔除了吗？为何要加上minBorderX恢复到边缘扩充坐标系下？求大佬指点