ORB_SLAM2
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raulmur
problem about blue points
hi!
I notice in FrameDrawer.cc if a mappoint created with no observation(maybe new mappoint?),it should be showed in current frame with bule points.However,all mappoints in current frame are drawed in green points.Is there any problem here?
（ps:source code
if(vbMap[i])
{
cv::rectangle(im,pt1,pt2,cv::Scalar(0,255,0));
cv::circle(im,vCurrentKeys[i].pt,2,cv::Scalar(0,255,0),-1);
mnTracked++;
}
else // This is match to a "visual odometry" MapPoint created in the last frame
{
cv::rectangle(im,pt1,pt2,cv::Scalar(255,0,0));
cv::circle(im,vCurrentKeys[i].pt,2,cv::Scalar(255,0,0),-1);
mnTrackedVO++;
}
}）
I did some change in orb-slam2 and blue points can be seen.But I am not sure whether I made some mistakes,because blue points never appear in original orb-slam2.
i also have this question. I found it seems unuseful to show the point which only extract in current frame. Can you tell me the way you have been changed?
