Noisy cloud and low convergence rate

[Bardo91]

Hi, I am setting up an UAV with a ZED camera and a Jetson tx1. I am testing REMODE with a custom ZED wrapper that publish SVO message to fit to the ros interface. Till now everything seems to be ok, but the cloud I am getting is very noisy, and the convergence rate never grows up more than ~21.6%.
I uploaded a gif my results. I decreased the convergence threshold to 20%. Does anyone have any clue of what could be my error?

Thanks in advance

[Tsugikuni-Yoriichi]

I have the same problem. The first depth image seems produce a pyramid structure. I am not sure how it's caused. I think the author has already write the denoise process in his code. Is it because that the denoise parameter should be revised according to our own dataset. I find that in "depthmap_denoiser.cu" there are parameters for denoising.
Anyway, have you solved this problem? Even I removed the first depth image, the remainning part is not in very good condition as well.

[Tsugikuni-Yoriichi]

I just jumped the first part of video. It gives now better result than previous ones. But still a further smooth on depth map is required for noise I think.
Yours seem to select the key frame so frequent. Maybe key frame selection speed should be in a reasonable range. It can be changed in config.cpp of svo with kfselect_mindist.