ORB_SLAM_INT database and ObserveLandmarks functions

[cindrew]

Dear Dr. Martin Brossard， Hello! I am very interested in this research work. However I have some confusion about the program for the ORB_SLAM_INT database.

It is excellent that you provide some introduction for the ORB_SLAM_INT database. For example, orb_slam.trackerMain, orb_slam.trackerBis, orb_slam.myTracks and what their role is.

The second issue I am facing is in ObserveLandmarks function. Object tracking is to create a tracking object, initialize and track. Track the corner points directly in the current image frame using trackerMain.step(line 14). I did not find the creation and initialization of the object. Whether the creation and initialization of the object was completed in orb_slam.trackerMain or orb_slam.trackerBis.

Thanks!

[JoseGomesJPG]

Hi @cindrew.

I am trying to adapt this code to work with a different dataset, and I am facing similar problems and questions. Were you able to understand the ObserveLandmarks funtion, and the role of orb_slam.trackerMain, orb_slam.trackerBis, orb_slam.myTracks?

Thanks in advance.

[cindrew]

hi，i think the function of file 'ObserveLandmarks' is try to get the suitable landmarks when the new pitcure you get, and the suitable landmarks including 30 points for tracking and 200 potential points for replace those unsuitale points of 30 when the number of suitable points for tracking is lower than 30; Also, the function of 'orb_slam.trackerMain ，orb_slam.trackerBis，orb_slam.myTracks' are the initialization of the point, and the file 'manageAmers' will change 'orb_slam.trackerMain ，orb_slam.trackerBis，orb_slam.myTracks' when potential points replace unsuitale points