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lhanaf / MILD

open source code for loop closure detection, binary feature based.
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Ask for example image from 0000.png to 0010.png #3

Closed zhanqan closed 5 years ago

zhanqan commented 5 years ago

Hello, I use my images to test your code, but it got 0 loop closure, actually it has 1 loop closure. So, can you provide your 11 test images for me? Thanks a lot!

jiayily commented 5 years ago

Actually, there is a bug in the main.cpp of line 121. The getline() function will add the character '\r' to the end of the string in Linux. Change the code to: string input = line; input = input.substr(0, input.length()-1); and watch out not to newline in the last line of imagelist.txt.

lhanaf commented 5 years ago

Actually, there is a bug in the main.cpp of line 121. The getline() function will add the character '\r' to the end of the string in Linux. Change the code to: string input = line; input = input.substr(0, input.length()-1); and watch out not to newline in the last line of imagelist.txt.

Thanks for the mention. I will consider to fix this bug.

lhanaf commented 5 years ago

Hello, I use my images to test your code, but it got 0 loop closure, actually it has 1 loop closure. So, can you provide your 11 test images for me? Thanks a lot!

Sorry for the late reply. You can test MILD on public dataset that are used in the papers. I'm not sure why it didn't work on your specific case.

lhanaf commented 5 years ago

Hello, I use my images to test your code, but it got 0 loop closure, actually it has 1 loop closure. So, can you provide your 11 test images for me? Thanks a lot!

The 11 test images are just an example for the input of imagelist.txt. That is not a dataset image list and is not used for loop closure detection actually. A very easy to used dataset can be downloaded from: http://www.robots.ox.ac.uk/~mobile/IJRR_2008_Dataset with groundtruth files: https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/5/5a/NewCollege.png (generated by introlab)

Best Regards Lei Han

jiayily commented 5 years ago

Sorry, You code has no bug. It seems my txt file is wrong. And when I generate it using a python script, it's OK now. Sorry for my carelessness.

lhanaf commented 5 years ago

That's all right. Thanks for your interest in MILD.