What happens if there is no match?

[vasnakh]

Hi,

I have a question. if there is no match on absolute pose side of things. what happens in that case? is there anyway to tell RelLoc/ORB-SLAM to actually ignore absolute pose and just use relative part? Would really appreciate your help.

[mohsin64095]

I think, if the confidence value in the absolute localization part is set to 0.0, then only only relative localization will be used to estimate camera trajectoires.

AbsLoc/estimate.py
pose.conf = best_score --> pose.conf = 0.0

Reason
RelLoc/src/vslam.cc
abs_xy.flag = (c != 0.0);