Merge raulmur/ORB_SLAM2's most recent version into your master branch#77
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pkok wants to merge 74 commits intojingpang:masterfrom
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Merge raulmur/ORB_SLAM2's most recent version into your master branch#77pkok wants to merge 74 commits intojingpang:masterfrom
pkok wants to merge 74 commits intojingpang:masterfrom
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Make clearer that SaveTrajectoryKITTI and SaveTrajectoryTUM do not work for monocular.
SaveTrajectory functions retrieve full frame trajectory using relative rigid body transformations between each frame and its reference keyframe. This relative transform is computed when the frame was tracked. This is inaccurate in the monocular case, as each relative transformation is computed at the particular scale when each frame was tracked. A global scale change will make all relative transformations invalid, and this can happen in two cases: 1) At loop closure 2) When the map is small and all keyframes are optimized in the Local BA. In that case the scale is not fixed and can change.
BLAS and LAPACK are not needed as we are not using CHOLMOD.
BLAS and LAPACK are not needed by g2o as we are not using CHOLMOD
not needed by g2o as we do not use CHOLMOD
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