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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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problem about blue points #1051

Open flyover-26 opened 2 years ago

flyover-26 commented 2 years ago

hi! I notice in FrameDrawer.cc if a mappoint created with no observation(maybe new mappoint?),it should be showed in current frame with bule points.However,all mappoints in current frame are drawed in green points.Is there any problem here? （ps:source code
if(vbMap[i]) { cv::rectangle(im,pt1,pt2,cv::Scalar(0,255,0)); cv::circle(im,vCurrentKeys[i].pt,2,cv::Scalar(0,255,0),-1); mnTracked++; } else // This is match to a "visual odometry" MapPoint created in the last frame { cv::rectangle(im,pt1,pt2,cv::Scalar(255,0,0)); cv::circle(im,vCurrentKeys[i].pt,2,cv::Scalar(255,0,0),-1); mnTrackedVO++; } }） I did some change in orb-slam2 and blue points can be seen.But I am not sure whether I made some mistakes,because blue points never appear in original orb-slam2.

jhch1995 commented 2 years ago

i also have this question. I found it seems unuseful to show the point which only extract in current frame. Can you tell me the way you have been changed?