Update of current_t and current_r

[mymrblack]

Hi, thank you for sharing the code. I am trying to run the code on my computer. I met some problem when I trying to understand the code.

In the line 112 of tracker.py, it use 'self.Kp_fr' and Kp_to[idx] to get the change of pose between keypoints of first frame and keypoints of current frame (they are new_t and new_r in the following code). self.Kp_fr is the keypoints of first frame because it haven't been changed since the first frame had been processed. Then the code use the pose of last frame (current_t and current_t in the code) and new_t and new_r to get the pose of current frame. Am I right about the code?

        self.min_dis = 1000.0
        lenggth = len(Kp_to)
        for idx in range(lenggth):
            new_r, new_t, kp_dis = self.criterion.inf(self.Kp_fr, Kp_to[idx])
            if self.min_dis > kp_dis:
                self.min_dis = kp_dis
                best_r = new_r
                best_t = new_t
        print(self.min_dis)

        current_t = current_t + np.dot(best_t, current_r.T)
        current_r = np.dot(current_r, best_r)
        current_t = self.init_t + np.dot(best_t, self.init_r.T)
        current_r = np.dot(self.init_r, best_r

Should the self.Kp_to be changed to the keypoints of last frame?

[Noone65536]

I have the same question. Did you find out why?