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关于描述符成员 #4

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DioBakery opened this issue Nov 27, 2024 · 1 comment

DioBakery commented Nov 27, 2024 •

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请问二进制描述符中的unsigned char summary_;参数是什么呀？

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DioBakery changed the title ~~请问相机的四元数和imu的四元数的关系是什么？我看在相同时间戳下坐标非常接近，但是四元数差距较大~~ 关于描述符成员

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zuhaozou2017 commented Dec 6, 2024

unsigned char summary_ 是原版BTC里的局部几何描述子的一个概述信息 - （如果没记错）平面法向量方向的点云里离平面最远的点的距离. 可以快速排除差的很远的几何描述子.

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