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Published 20 hours ago • verified publisher icon raulmur

bad MapPoint in SearchProjection?

Open jingpang opened this issue 9 years ago • 0 comments

Hi, bad MapPoints are included in SearchByProjection() to track from previous frame, while in most other similar situation they're exluded as in Line-535.

( https://github.com/raulmur/ORB_SLAM/blob/master/src/ORBmatcher.cc#L1526 , not consider pMP->isBad(). This function called in TrackWithMotionModel() )

Anyone know the reason? Thanks!

jingpang avatar Feb 19 '16 14:02 jingpang