A quick explanation on the math behind int ORBmatcher::SearchByProjection(Frame &CurrentFrame, const Frame &LastFrame, const float th, const bool bMono) method in ORBmatcher.cc

raulmur / ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities

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Open Mechazo11 opened 1 year ago

Mechazo11 commented 1 year ago

Hi @raulmur,

Sir, can you direct me to some resources regarding how you designed the math behind the

int ORBmatcher::SearchByProjection(Frame &CurrentFrame, const Frame &LastFrame, const float th, const bool bMono) method?

I am building a SLAM pipeline based on PySLAM project (https://github.com/luigifreda/pyslam) which developed most of ORB-SLAM2 in Python.

With best, @Mechazo11