In some feature extracter, tracking stops halfway, and only the more demanding ones continue to work.

[ufukasia]

Dear Luigi Freda,

If you fix this last issue as well, your software will be perfect.

Currently, I am observing some problems with the feature tracker selection in your software. For instance, when using a high-quality algorithm like SuperPoint, tracking is performed successfully. However, when ALIKED is selected, the green points on the screen terminate in the middle of the odometry, causing tracking to stop even though the software continues to run.

While tracking with the Orb algorithm halts at a certain point, tracking continues smoothly when Orb2 is used. This situation prevents me from developing improvements on faster, but less accurate algorithms, as my enhancements yield minimal success when used with high-quality algorithms.

Additionally, the software does not shut down on its own and experiences delays during the shutdown process.

I believe that addressing the issues mentioned above will significantly improve the performance and efficiency of your software.

Sincerely,

.................................. getImageRight: 1403636868601666560.png image: 199, timestamp: 1403636868.6016665, duration: 0.04999995231628418 @tracking STEREO, img id: 199, frame id: 199, state: RELOCALIZE img.shape: (480, 752, 3), camera: 480x752 img_right.shape: (480, 752, 3) timestamp: 1403636868.6016665 BlockAdaptor 5 x 5 BlockAdaptor 5 x 5 detector: ORB , #features: 1928 , [kp-filter: KDT_NMS ] detector: ORB , #features: 2400 , [kp-filter: KDT_NMS ] descriptor: ORB , #features: 1928 , [kp-filter: NONE ] detector: ORB , descriptor: ORB , #features: 1928 (#ref: 2400 ), [kp-filter: NONE ] descriptor: ORB , #features: 2400 , [kp-filter: NONE ] detector: ORB , descriptor: ORB , #features: 2400 (#ref: 2400 ), [kp-filter: NONE ] find_trajectories_associations: got j=-1 at sample i=0 find_trajectories_associations: got j=-1 at sample i=1 find_trajectories_associations: got j=-1 at sample i=2 find_trajectories_associations: got j=-1 at sample i=3 Viewer3D: viewer_refresh - align gt with scale: False, RMS error: 0.00973319382382688 [compute_stereo_matches] found final 233 stereo matches Relocalizing frame id: 199... [Tracking]: WARNING you did not set any loop closing / relolize method! Relocalization failed WARNING: you did not set any loop closing / relocalize method! map: 1209 points, 46 keyframes Tracking: elapsed_time: 0.11969566345214844 SlamPlotDrawer: new gt alignment timestamp: 1403636867.8516665, rms_error: 0.00973319382382688, max_error: 0.03057554588619135, is_est_aligned: False .................................. getImageRight: 1403636868651666432.png image: 200, timestamp: 1403636868.6516664, duration: 0.05000019073486328 @tracking STEREO, img id: 200, frame id: 200, state: RELOCALIZE img.shape: (480, 752, 3), camera: 480x752 img_right.shape: (480, 752, 3) timestamp: 1403636868.6516664 BlockAdaptor 5 x 5 BlockAdaptor 5 x 5 detector: ORB , #features: 2030 , [kp-filter: KDT_NMS ] detector: ORB , #features: 2400 , [kp-filter: KDT_NMS ] descriptor: ORB , #features: 2030 , [kp-filter: NONE ] detector: ORB , descriptor: ORB , #features: 2030 (#ref: 2400 ), [kp-filter: NONE ] descriptor: ORB , #features: 2400 , [kp-filter: NONE ] detector: ORB , descriptor: ORB , #features: 2400 (#ref: 2400 ), [kp-filter: NONE ] [compute_stereo_matches] found final 272 stereo matches Relocalizing frame id: 200... [Tracking]: WARNING you did not set any loop closing / relolize method! Relocalization failed WARNING: you did not set any loop closing / relocalize method! map: 1209 points, 46 keyframes Tracking: elapsed_time: 0.12729573249816895