The mistake in "ORBmatcher::SearchByBoW" function during handing the variable "factor"

[Lurvelly]

Dear all,

Thanks for sharing your code. During learning you code, we found that the variable "bin" means the index of the histogram's bar index. So the variable "bin" should be "HISTO_LENGTH * (rot / 360.0f)", isn't it?

But current the variable "bin" in the code below is "rot / HISTO_LENGTH", although the result is a integer between 0 and 12. That means we can use the front 13 "rotHist" vector's slots, but the remain 17 slots will not be used. The vector "rosHist" contains 30 slots. https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/4452a3c4ab75b1cde34e5505a36ec3f9edcdc4c4/src/ORBmatcher.cc#L37 https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/4452a3c4ab75b1cde34e5505a36ec3f9edcdc4c4/src/ORBmatcher.cc#L233 https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/4452a3c4ab75b1cde34e5505a36ec3f9edcdc4c4/src/ORBmatcher.cc#L236 https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/4452a3c4ab75b1cde34e5505a36ec3f9edcdc4c4/src/ORBmatcher.cc#L348 https://github.com/UZ-SLAMLab/ORB_SLAM3/blob/4452a3c4ab75b1cde34e5505a36ec3f9edcdc4c4/src/ORBmatcher.cc#L382

[zmxiaoj]

have same question