Does it work with different start point between query and reference?

[cswwp]

Hi, @ovysotska , in my work scene, i need to make relocalization in any start point (maybe this start point never occur in reference, and it arrivals one place which occur in reference after fews of continious frame), and i imitate this scene with delete first N frames in reference set, and then cause start point mismatch between query and reference. But after run demo, the result is bad, and it occurs may dismatched pair as follows. In my thinking, it caused by accumulated error by start point error match. Do you mind to explain why this happen? and any advice to prevent this case ? Thank you

[ovysotska]

Hey @cswwp ,

sorry, I just noticed this issue.
yes, it should work if you delete the first N frames in the reference sequence.
Could you provide a picture of the cost matrix and matching result? The demo code should generate it by default.