search

rubengooj / pl-slam

This code contains an algorithm to compute stereo visual SLAM by using both point and line segment features.
GNU General Public License v3.0
734 stars 242 forks source link

Something confused about addMapPointObservation #25

Open dshwtc opened 6 years ago

dshwtc commented 6 years ago

Hi, I‘ve read your code recently, and I found something confused. It's on line 608 and line 618 in mapHandler.cpp which shows below,

Vector3d dir_kf = Pf_kf.normalized(); dir_kf = curr_kf->T_kf_w.block(0,0,3,3) * dir_kf + curr_kf->T_kf_w.col(3).head(3);

I think this two sentences transform a 3D direction vector(3D point been normalized) from the keyframe frame to the world frame, and this is different from the other places when using the function "addMapPointObservation" which transfrom the 3D point first then normalized. Is this something wrong? Thanks!