avisingh599 / mono-vo

An OpenCV based implementation of Monocular Visual Odometry
MIT License
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Dead code (prevPts and currPts are not used) ? #22

Open VigibotDev opened 4 years ago

VigibotDev commented 4 years ago

I don't understand this because prevPts and currPts are not used anywhere !

    Mat prevPts(2,prevFeatures.size(), CV_64F), currPts(2,currFeatures.size(), CV_64F);

   for(int i=0;i<prevFeatures.size();i++)       {   //this (x,y) combination makes sense as observed from the source code of triangulatePoints on GitHub
                prevPts.at<double>(0,i) = prevFeatures.at(i).x;
                prevPts.at<double>(1,i) = prevFeatures.at(i).y;

                currPts.at<double>(0,i) = currFeatures.at(i).x;
                currPts.at<double>(1,i) = currFeatures.at(i).y;
    }