1.SearchForInitialization—— The matching used during initialization
Initialization must be performed between two adjacent ordinary frames , Therefore, it can be considered that the pose difference between the two will not be too large
stay F2（ The first 2 frame ） Directly with F1（ The first 1 frame ） The feature point coordinates in the are centered , In the radius of 100 Search inside the circle . This way can avoid violent matching , At the same time, the reason for matching in a circular area around is 1 Described in , Because the pose difference between the two frames is not big , So the matching feature points must be very close .
Because it is initialization , Therefore, the requirements for matching are relatively high , So we used Match uniqueness and Rotational consistency Screening . problem ： The proportion of matching uniqueness is 0.9 Relatively high , Logically, this is the initialization part, which should be more unique , That is, the proportion should be lower ？
3. I think bug
1.KeyFrame.cc Medium UpdateConnections() function
KeyFrame::UpdateConnections() in , The established common view relationship does not seem to be symmetrical . See the following code for details ： For The common view key of the current frame Establishment and The current frame When the connection between , A connection can only be established if it is greater than the threshold . And in the end The current frame Establish and The common view key of the current frame When the connection between , But directly assigned , Not removed Those common view keyframes that are less than the threshold , So this should be a problem .