UZ-SLAMLab
Help Removing/Filtering Keypoints
Hi everyone,
I am a beginner when it comes to SLAM in general but Ive wanted to ask where could I remove keypoints in the RGBD method of ORBSLAM3.
Ive tried attempting to do it in the Frame class - ie mCurrentFrame within the GrabImageRGBD method but I seem to run into alot of issues. I am basically using a filtering alogrithm I developed based on a object detection model and I want to remove keypoints within a certain area.
Before I run my algorithm I simply tried reassinging mCurrent.mvkeys to a new std::vector cv::Keypoint called New_KP which is fundamentally just the first 800 keypoints of mCurrent.mvkeys but I end up with alot of errors. I would appreciate anyones help tremedously!
I feel like I am misunderstanding something simple. Thanks!
The Frame member variable N gets set set to mvKeys.size() when the Frame is first constructed, and it's never changed again. Maybe try updating this value when you reassign mvKeys?
The Frame member variable N gets set set to mvKeys.size() when the Frame is first constructed, and it's never changed again. Maybe try updating this value when you reassign mvKeys?
I actually did end up doing that and it seems it worked out! Thanks!