OpenSFM使用--TUM数据集测试

首先试试这些参数：

feature_min_frames: 1000      # If fewer frames are detected, sift_peak_threshold/surf_hessian_threshold is reduced.
processes: 4                  # Number of threads to use
feature_type: LF
feature_root: 1
LFnetFeaturePath: ./rgb_feats_indoor/ 
# lowes_ratio: 0.9  
feature_process_size: -1
feature_root: 0
matching_gps_distance: 0            # Maximum gps distance between two images for matching
matching_gps_neighbors: 0             # Number of images to match selected by GPS distance. Set to 0 to use no limit (or disable if matching_gps_distance is also 0)
matching_time_neighbors: 0            # Number of images to match selected by time taken. Set to 0 to disable
matching_order_neighbors: 2           # Number of images to match selected by image name. Set to 0 to disable
preemptive_max: 500                   # Number of features to use for preemptive matching
lowes_ratio: 0.6   
bundle_interval: 999999
local_bundle_radius: 1362 

主要思路是不希望用局部的BA优化而是用一次全局的BA　　
之前尝试局部做效果比较差　　
运行下流程看看结果：

2019-06-02 11-11-28屏幕截图.png

2019-06-02 11-12-38屏幕截图.png

2019-06-02 11-12-21屏幕截图.png

实验结果比较垃圾．．．．．．

再试一下参数：

feature_min_frames: 1000      
processes: 4                
feature_type: LF
feature_root: 1
LFnetFeaturePath: ./rgb_feats_indoor/ 
# lowes_ratio: 0.9  
feature_process_size: -1
feature_root: 0
matching_gps_distance: 0            
matching_gps_neighbors: 0             
matching_time_neighbors: 0            
matching_order_neighbors: 100      
preemptive_max: 500                  
lowes_ratio: 0.8   
bundle_interval: 999999
local_bundle_radius: 1362 

上次有可能使临近帧match太少(只有两帧，类似video模式)导致tracks太少不够用
这次改了１００帧，肯定是够用了．
结果如下：

稍微好了一点把，起码是把图片串到一起了

再试试新的参数：

feature_min_frames: 1000      
processes: 8                
feature_type: LF
feature_root: 1
LFnetFeaturePath: ./rgb_feats_indoor/ 
# lowes_ratio: 0.9  
feature_process_size: -1
feature_root: 0
matching_gps_distance: 0            
matching_gps_neighbors: 0             
matching_time_neighbors: 0            
matching_order_neighbors: 100      
preemptive_max: 500                  
lowes_ratio: 0.8   
bundle_interval: 999999
local_bundle_radius: 100

2019-06-02 13-42-21屏幕截图.png