fix bugs as suggested at: raulmur/ORB_SLAM2#59

zhenzhenxiang · Jun 4, 2020 · 1e6a52a · 1e6a52a · cyclojc · Aug 13, 2020
1 parent 9207b77
commit 1e6a52a
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Showing 2 changed files with 4 additions and 2 deletions.
diff --git a/orb_slam2/src/Initializer.cc b/orb_slam2/src/Initializer.cc
@@ -887,10 +887,12 @@ int Initializer::CheckRT(const cv::Mat &R, const cv::Mat &t, const vector<cv::Ke
 
         vCosParallax.push_back(cosParallax);
         vP3D[vMatches12[i].first] = cv::Point3f(p3dC1.at<float>(0),p3dC1.at<float>(1),p3dC1.at<float>(2));
-        nGood++;
 
         if(cosParallax<0.99998)
+        {
             vbGood[vMatches12[i].first]=true;
+            nGood++;
+        }
     }
 
     if(nGood>0)

diff --git a/orb_slam2/src/ORBmatcher.cc b/orb_slam2/src/ORBmatcher.cc
@@ -475,7 +475,7 @@ int ORBmatcher::SearchForInitialization(Frame &F1, Frame &F2, vector<cv::Point2f
                     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));
                     if(bin==HISTO_LENGTH)
                         bin=0;
                     assert(bin>=0 && bin<HISTO_LENGTH);