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raulmur / ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
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Question about ORB extractor is different from that of opencv #1032

Open craftindo opened 2 years ago

craftindo commented 2 years ago

It loosk to me that its ORB extractor has a different implementation than that from OpenCV. Is it a different variant of ORB extractor?

When I tested with monokitti, at frame 204, using ORB & knnmatch opencv code, it seems to fail, has very few descriptor e.g. <5, whereas ORB SLAM2 code here, still have matches like 60s. Why is that? Is it ORB descriptor code here performs better than opencv orb extractor?