Problem when dilating idepth in LoopClosing::ComputeOptimizedPose

[jiawei-mo]

Hello Dr. Gao,

Thank you for publishing this wondering project. When I was reading it, I found a small problem: in LoopClosing::ComputeOptimizedPose, line 272, you declare a vector of 2d vectors called activePixels; then in line 298, you iterate through activePixels and dilate the idepth around each activePixels. However, did you forget to put data into activePixels in the previous block (L276-L295) when projecting all points to the current frame?

Thank you!

Jiawei

[gauti1311]

Hello @jiawei-mo i have also this issue and cannot optimize the pose because of activePixels.size() = 0. Did you find any solution
?

[mgladkova]

Hi @jiawei-mo ,

please see my reply here #60.