where edges feature were used?

[YiChenCityU]

Thanks for your open source code. I find that the edge features only exists in processFirstFrame function. Does it means that only initialization use edge features? Thanks very much.

[HeYijia]

In SVO, we will detect the feature when a new keyframe is selected. You can find the code at depth_filter.cpp line 123.

[YiChenCityU]

@HeYijia Thanks a lot. I also have another question. The main function of edge features were used to enhance depth estimation or enhance matches between two frames? Because I know there is a class in opencv that is linedescriptors https://docs.opencv.org/3.0-beta/modules/line_descriptor/doc/line_descriptor.html. Does your methods same as this?

[HeYijia]

no, I just use canny to detect edge.