The issue about Bug 1 and 2 can be found in this website.
Bug 1: Initializer.cc at about line 890 (?)
Report:
- for complex scene like kitti sequence 00, fixing this bug causes more time for initialization.
- for simple scene like rgbd_dataset_freiburg1_xyz and summit dataset, fixing this bug makes a quicker initialization possible.
- TO-DO: IS THIS REALLY A BUG???
// nGood++;
if(cosParallax<0.99998){
vbGood[vMatches12[i].first]=true;
nGood++; // here is the change
}
Bug 2: ORBmatcher.cc at about line 485
A tutorial about Histogram of gradients is found in this website
float rot = F1.mvKeysUn[i1].angle-F2.mvKeysUn[bestIdx2].angle;
if(rot<0.0)
rot+=360.0f;
// int bin = round(rot*factor);
int bin = round(rot/(360.0f*factor)); // here is the change
if(bin==HISTO_LENGTH)
bin=0;
Because HISTO_LENGTH=30, we get 30 bin-Histogram (each bin is for a range of 360/30=12 degrees). To find the index for each rot, we need to calculate round(rot/12), which means round(rot/(360/HISTO_LENGTH)).
