Not closed on my own sequence about ldso HOT 4 CLOSED

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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