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rpng / open_vins

An open source platform for visual-inertial navigation research.
https://docs.openvins.com
GNU General Public License v3.0
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mask bug in TrackKLT.cpp #397

Open biggiantpigeon opened 8 months ago

biggiantpigeon commented 8 months ago

in 721 line of TrackKLT.cpp, why mask1_updated clone from mask0? I assume it should be mask1? cv::Mat mask1_updated = mask0.clone();

WZG3661 commented 8 months ago

I think you are right

biggiantpigeon commented 7 months ago

Also, I found that in KLT, the first observation (on the frame which a feature is first detected) is not added to the database, the first time a KLT feature add to database is the next frame, when it is first tracked from old to new. This is not a bug, but I wonder will the performance be better if we add the feature's first observation.