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appliedAI-Initiative / orb_slam_2_ros

A ROS implementation of ORB_SLAM2
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Data stored in the map binary file #121

Open rakshith95 opened 2 years ago

rakshith95 commented 2 years ago

Hello, From reading the ORB slam paper, I assume it contains:

  1. Key frames: BoW vectors for the keyframes
  2. tracked features in the keyframes
  3. 3D location of these tracked features

Is any other information saved? Is there any additional information on the above as well(for eg, if the tracked features are saved, are they saved as raw orb features)?