No loop closure - Githubissues

I am using viso2 with my bumblebee xb3 on ROS hydro on Ubuntu 13.04 64bit. When 
I map the odometry output to the system as shown 
here:http://wiki.ros.org/cyphy_vis_slam. 

The slam backend place nodes and edges and I can visualize this in Rviz. 
However, I cannot get the geometric verification part to work. I am using 
template matching for loop closure and the geometric verifier gets called for 
matching candidates. However, I either get the error: Failed to process ...

This happens due to a failure in viso2 stereo odometry. However, I do not know 
what is causing the problem. The image cache is running properly with no 
problems. I varied the match thresholds in template matching and got more 
matches, but the error is the same in geometric verification.
I am expecting to see a red node and red edge showing me that a loop closure 
has happened, but it fails. Following is the launch file for geometric 
verification:

<launch>
    <node name="geometric_verifier" pkg="geometric_verification" type="geometric_verification" output="screen">
    <param name="cache_path" value="/home/hope/slamcache"/>
    <param name="base_link_frame_id" value="odom_combinedYX"/>
    <param name="sensor_frame_id" value="camera_frame"/>
    <param name="window_size_in_frames" value="50"/>
    <param name="allowed_trans_x" value="2.0"/>
    <param name="allowed_trans_y" value="2.0"/>
    <param name="allowed_trans_z" value="2.0"/>
    </node>
</launch>

Thank you
Aswin

Original issue reported on code.google.com by aswintho...@gmail.com on 25 Oct 2013 at 6:34

anand-ajmera / cyphy-vis-slam

No loop closure #1