search

UZ-SLAMLab / ORB_SLAM3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
GNU General Public License v3.0
6.56k stars 2.56k forks source link

ot preintegrated measurement #238

Open roboticsai opened 3 years ago

roboticsai commented 3 years ago

Whenever i'm trying to run the ros_mono_inertial node with image and imu topic being subscribed i'm getting this errros:

LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 278
mnInitialFrameId = 208
3 Frames set to lost
First KF:4; Map init KF:2
New Map created with 204 points
Point distribution in KeyFrame: left-> 204 --- right-> 0
build optimization graph
Not preintegrated measurement
Segmentation fault (core dumped)

I'm using ubuntu 20.04 and ros noetic and have sucesfully built the orb_slam3 library and the ros_mono_inertial node. The ros_mono node runs succesfully.

GabHoo commented 3 years ago

Same but i am not using ROS. Moreover it gave me this error after few successful runs

kenmaro3 commented 3 years ago

@roboticsai @GabHoo Hi, I am reading the imu output from android device and got this error as well. Any idea what is causing this yet?

rovinellimarco commented 3 years ago

@roboticsai @GabHoo @kenmaro3 Did any of you manage to solve the problem? I am getting the same error when trying to use the IMU measurements in a KITTI sequence.

FSRyan commented 3 years ago

Hello!Have you solved this problem？

sandstorm666 commented 2 years ago

i am also encountering this problem,can anyone solve this problem?

MagdaZal commented 2 years ago

I have the same problem, have you solved this?

Empty IMU measurements vector!!! Not preintegrated measurement