@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
? Thanks!
@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
? Thanks!