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tum-vision / dvo_slam

Dense Visual Odometry and SLAM

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adding 0 new constraints

zhagux opened this issue · comments

commented

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,

commented

I have the same problem.
In dvo_benchmark the value of TrackingResultValidation changes dynamically, but with dvo_slam doesn't. In dvo_slam 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.