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izhengfan / se2lam

(ICRA 2019) Visual-Odometric On-SE(2) Localization and Mapping
https://github.com/izhengfan/se2lam
MIT License
404 stars 108 forks source link

Wrong formula #12

Closed FaiScofield closed 4 years ago

FaiScofield commented 4 years ago

https://github.com/izhengfan/se2lam/blob/ec054e5b749654776060bf6bbb7e0c65ea04b90e/src/ORBmatcher.cpp#L157

It should be:

const float factor = HISTO_LENGTH / 360.f;

Since "HISTO_LENGTH = 30", the difference angle of two KeyPoints will distributed in 30 regions with 12 degrees per region. This code here will result in 30 degrees per region.

izhengfan commented 4 years ago

I think you are right. This cpp file is copied from the ORB_SLAM repo, so I guess this bug originates from it.