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raulmur / ORB_SLAM

A Versatile and Accurate Monocular SLAM
http://webdiis.unizar.es/~raulmur/orbslam/
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grid in ORBextractor #102

Open jingpang opened 8 years ago

jingpang commented 8 years ago

@raulmur Hi, in ComputeKeyPoints() in ORBextractor.cc, computation of the levelCols/levelRows can be slightly modified (usage of imageRatio). 

    const int levelRows = imageRatio*levelCols;

change to

    const int levelRows = levelCols / imageRatio;

This modification makes levelCols/levelRows = imageRatio = image.cols / image.rows . The keypoints may distribute better when cols>>rows, i think.

( https://github.com/raulmur/ORB_SLAM/blob/master/src/ORBextractor.cc#L533 )

AlejandroSilvestri commented 7 years ago

I believe you are right, ORB-SLAM2 no longer uses this method.