Assertion in CoarseTracker with large image (1920*1216)

JakobEngel / dso

Direct Sparse Odometry

GNU General Public License v3.0

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Assertion in CoarseTracker with large image (1920*1216) #222

Open ronir121 opened 4 years ago

ronir121 commented 4 years ago

Hi I'm using images of size 1920*1216. I get 5 pyramid levels ("using pyramid levels 0 to 5. coarsest resolution: 60 x 38!") and an assertion as follows:

Assertion failed: coarsestLvl < 5 && coarsestLvl < pyrLevelsUsed, file ..\src\FullSystem\CoarseTracker.cpp, line 544

Probably because coarsestLvl is 5.

Am I using images which are too big for this code?

K-M-Ibrahim-Khalilullah commented 4 years ago

@JakobEngel @NikolausDemmel I have also the same problem. The dso shows different behavior for different frame sizes. Would you tell me, what is the good frame size for your implementation or algorithm?