Questions about levelCols and levelRows in ORBExtractor
Tofupi opened this issue · comments
const int levelCols = sqrt((float)nDesiredFeatures/(5imageRatio));
const int levelRows = imageRatiolevelCols;
above code pasted from ComputeKeyPoints() function. I want to kown why calc the two value in this way but they are const variable 30 in ORB_SLAM2 code.
hope for your reply. thanks
These are from ORB_SLAM. I don't know why they did this when upgraded to ORB_SLAM2.
ok, thanks