slam十四讲ch7中，DMatch类中的queryIdx和trainIdx

wx_polish

于 2020-09-17 20:42:59 发布

阅读量5.5k

点赞数 18

本文链接：https://blog.youkuaiyun.com/CxC2333/article/details/108652488

版权

由于是在ch7中的pose_estimation_3d2d遇到的问题，因此我直接在pose_estimation_3d2d文件中添加测试代码，测试代码可以放在最后应该也可以，就是图个方便…

    /*************test*************/
    cout << "test_start:" << endl ; 
    Mat my_img1=img_1.clone();
    Mat my_img2=img_2.clone();
    int img1_x = keypoints_1[matches[1].queryIdx].pt.x ;
    int img1_y = keypoints_1[matches[1].queryIdx].pt.y ;
    //int img2_x = keypoints_2[matches[1].trainIdx].pt.x ;
    //aaint img2_y = keypoints_2[matches[1].trainIdx].pt.y ;
    int img2_x = keypoints_2[matches[1].queryIdx].pt.x ;
    int img2_y = keypoints_2[matches[1].queryIdx].pt.y ;
    circle(my_img1, Point(img1_x,img1_y), 5, Scalar(0, 0, 255));
    circle(my_img2, Point(img2_x,img2_y), 5, Scalar(0, 0, 255));
    
    cout << "matches[1].queryIdx = " << matches[1].queryIdx <<endl ;
    cout << "matches[1].trainIdx = " << matches[1].trainIdx <<end