The purpose of localMap_

Posted by Kaifei on
URL: http://official-rtab-map-forum.206.s1.nabble.com/The-purpose-of-localMap-tp493.html

Hi,

I'm reading codes in OdometryBOW.cpp and OdometryMono.cpp.
I have 3 questions:

1. I'm wondering what is the purpose of localMap_ in both files?
Is it to provide another layer of caching on top of the STM (short-term memory)?

2. In OdometryMono.cpp, what is the purpose of cornersMap_?

3. In OdometryMono.cpp, what is the purpose of calling util3d::generateWords3DMono at line 402?
It seems to be epipolar geometry calculations, but the result doesn't change the return value "output".

Thanks!!

Bernard