vo.py 文件源码

def __init__(self, fx, cx, cy):
        self.last_frame = None
        self.R = None
        self.t = None
        self.px_ref = None
        self.px_cur = None
        self.focal = fx
        self.pp = (cx, cy)
        self.detector = cv2.FastFeatureDetector_create(threshold=25,
                                                       nonmaxSuppression=True)