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yubaoliu / RDS-SLAM

DS-SLAM: Real-Time Dynamic SLAM Using Semantic Segmentation Methods
GNU General Public License v3.0
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为什么在跟踪线程poseoptimization函数的鱼眼相机模式中添加e->mMovingProbability = pMP->GetMovingProbability()？ #17

Open zlthaha opened 2 years ago

zlthaha commented 2 years ago

在Optimizer.cc的943行，poseoptimization函数中，为何在SLAM with respect a rigid body中添加e->mMovingProbability = pMP->GetMovingProbability()，双目和单目为什么没添加： //Conventional SLAM if (!pFrame->mpCamera2) { // Monocular observation if (pFrame->mvuRight[i] < 0) { ........ ........ ........ } else // Stereo observation { ........ ........ ........ } } //SLAM with respect a rigid body else { ........ ........ ........

                    e->mMovingProbability = pMP->GetMovingProbability();
                       ........
                    ........
                    ........
                } else { //Right camera observation
                       ........
                    ........
                    ........
                }
            }