Comments (4)
Hi @liu-zg15 The parameters about loop closing in LDSO in set to be a quite strict value to prevent false loops in our dataset, so many possible loops will be rejected during loop closure detection. You can adjust those parameters if the correct loop is not detected in your data. Taking a quick look of frontend/LoopClosing would be helpful.
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Hi, @liu-zg15 and @gaoxiang12,
Which code should I modify for adapting my sequence (images located in a directory) as input source? Any hints for the modification?
THX!
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Hi @gaoxiang12 . I really appreciate your reply.
I think you are right. The parameters about loop closing in LDSO are set to be very strict.
Changing some parameters in LoopClosing.cpp is the easiest way.(It works in my sequence) But be careful!. False loop will cause failure of whole procedure. I suggest to calibrate your camera more careful.
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@amiltonwong, I'm not sure this is related to this issue?
If your sequence is in one of the supported formats, just point to it with command line arguments. Or else implement your custom DatasetReader. Check the different executables in examples
.
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Related Issues (20)
- Improve exception safety with smart pointers HOT 2
- Exporting 3D points visibility information HOT 3
- results file HOT 1
- Why not ORB? HOT 3
- The effect of LDSO Loop closure and feature matching
- Settings tuning
- Run with webcam HOT 1
- Problem with loop closing HOT 3
- I want to run LDSO in a camera for ROS HOT 1
- Does global pose graph help improve the estimation accuracy if no loop is detected? HOT 3
- I don't know why the point cloud checked by the DSOviewer is different from the point cloud of the saved output ply file. HOT 7
- accuracy HOT 1
- Fix KeyFrame generation rate increasing over time
- Preset=1 for "enforcing 1x real-time execution" leads to failed tracking HOT 1
- Test this algorithm on TUM SLAM data HOT 6
- Fail to generate .ply when setting nogui=1
- Double Free or corruption in loop closing HOT 1
- Build error HOT 1
- The execution screen does not appear.
- Some required libraries are not in the dependencies list HOT 2
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