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tum-vision / dvo_slam

Dense Visual Odometry and SLAM
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adding 0 new constraints #24

Open zhagux opened 9 years ago

zhagux commented 9 years ago

In KeyframeGraphImpl::ValidateConstraintProposalReduction, I set 'debut = ture' as validator()->validate(proposals, ture);

and I got the message like below: Proposal 118->120 reject OdometryConstraint 0 NaNResult 0 ConstraintRatio 0.720339 >= 0.3 TrackingResultValidation 0.0361462 >= 0.7 CrossValidation 0.0255714 <= 1

So, I guess it is a problem of TrackingResultValidation. This caused DVO_SLAM didn't add any constraints even a loop closure.

I am running dataset: rgbd_dataset_freiburg3_long_office_household, with 'rosrun dvo_slam camera_keyframe_tracker.'

Is there any parameter can resolve this problem? Thanks,

adrinieto commented 9 years ago

I have the same problem. In _dvobenchmark the value of TrackingResultValidation changes dynamically, but with _dvoslam doesn't. In _dvoslam it doesn't add any constraints to the graph, although it's not a final solution I hardcoded the value of the comparision and now it's working.