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MIT-SPARK / Kimera-Multi-Data

A large-scale multi-robot dataset for multi-robot SLAM
MIT License
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Dataset isn't working on ORBSLAM2 RGBD #14

Open bharadwajsirigadi opened 4 months ago

bharadwajsirigadi commented 4 months ago

I've tried to process this dataset on ORBSLAM2, it isn't working. Here is my .yaml file(settings file).

`%YAML:1.0

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Camera Parameters. Adjust them!

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Camera calibration and distortion parameters (OpenCV)

Camera.fx: 381.1208801269531 Camera.fy: 380.8488464355469 Camera.cx: 315.84698486328125 Camera.cy: 238.04495239257812

Camera.k1: 0.0 Camera.k2: 0.0 Camera.p1: 0.0 Camera.p2: 0.0

Camera.width: 640 Camera.height: 480

Camera frames per second

Camera.fps: 30.0

IR projector baseline times fx (aprox.)

Camera.bf: 40.0

Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)

Camera.RGB: 0

Close/Far threshold. Baseline times.

ThDepth: 40.0

Deptmap values factor

DepthMapFactor: 100

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ORB Parameters

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ORB Extractor: Number of features per image

ORBextractor.nFeatures: 1000

ORB Extractor: Scale factor between levels in the scale pyramid

ORBextractor.scaleFactor: 1.2

ORB Extractor: Number of levels in the scale pyramid

ORBextractor.nLevels: 8

ORB Extractor: Fast threshold

Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.

Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST

You can lower these values if your images have low contrast

ORBextractor.iniThFAST: 20 ORBextractor.minThFAST: 7

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Viewer Parameters

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Viewer.KeyFrameSize: 0.1 Viewer.KeyFrameLineWidth: 1 Viewer.GraphLineWidth: 1 Viewer.PointSize: 2 Viewer.CameraSize: 0.15 Viewer.CameraLineWidth: 2 Viewer.ViewpointX: 0 Viewer.ViewpointY: -10 Viewer.ViewpointZ: -0.1 Viewer.ViewpointF: 2000

`