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tum-vision / LDSO

DSO with SIM(3) pose graph optimization and loop closure
GNU General Public License v3.0
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The effect of LDSO Loop closure and feature matching #56

Open bexilin opened 4 years ago

bexilin commented 4 years ago

@gaoxiang12 Hi Xiang, I tried running LDSO on TUM mono dataset sequence 02 and 09, and found that no Loop closure was detected. The parameter "setting_enableLoopClosing" in Setting.cc remained as true and I've checked that LoopClosing::CorrectLoop did execute when running LDSO. Then I used function FeatureMatcher::DrawMatches to visualize the matched features just after line 161 in LoopClosing::CorrectLoop, and discovered that there are many wrong feature matchings like the following figure shows. So I guess that's probably why no loop closure was detected. Could you please have a check and see if you also get a similar observation LDSO_match_sample ? Thanks!