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gaoxiang12 / slambook2

edition 2 of the slambook
MIT License
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Image pyramid calculation without gaussian blur #204

Closed xmba15 closed 2 years ago

xmba15 commented 2 years ago

Hi @gaoxiang12 Thank you for this great learning source. I just want to raise a small question about the image pyramid calculation you used in chapter 8 (optical flow estimation, direct pose estimation)

here in the code, we only have a downsampling processing. https://github.com/gaoxiang12/slambook2/blob/master/ch8/optical_flow.cpp#L309

but in the definition of image pyramid, I think a gaussian blur is added before downsampling to reduce aliasing.

Not a big deal though but maybe it can be added to a newer version of slambook.

gaoxiang12 commented 2 years ago

Thanks for pointing it out. Actually, as I know the Gaussian blur is an optional step in vslam. Some implementations like SVO and DSO do not have the Gaussian blur step and feature-based vslam like ORB-SLAM normally has this. I'll think of adding a short text introduction in the current version. Thanks.

xmba15 commented 2 years ago

Thanks. I am looking forward to it. I will close this issue then.