Issues with map resetting, freezing and random motions

[MrOCW]

Hi everyone, I am using a Intel Realsense D435i and currently attempting to run it on a Jetson Xavier NX.

After some digging around, this is my yaml file: %YAML:1.0

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Camera Parameters. Adjust them!

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Camera.type: "PinHole"

Camera calibration and distortion parameters (OpenCV)

Camera.fx: 919.915 Camera.fy: 920.177 Camera.cx: 643.488 Camera.cy: 361.480

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

Camera.width: 1280 Camera.height: 720

Camera frames per second

Camera.fps: 30

IR projector baseline times fx (aprox.)

Camera.bf: 13.844

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

Camera.RGB: 1

Close/Far threshold. Baseline times.

ThDepth: 40.0

Deptmap values factor

DepthMapFactor: 1.0

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Modeling Realsense D435 Sensor Noise for Improved 3D Reconstruction and Tracking.

sensor_processor/type: structured_light sensor_processor/cutoff_min_depth: 0.2 sensor_processor/cutoff_max_depth: 3.25 sensor_processor/normal_factor_a: 0.000611 sensor_processor/normal_factor_b: 0.003587 sensor_processor/normal_factor_c: 0.3515 sensor_processor/normal_factor_d: 0 sensor_processor/normal_factor_e: 1 sensor_processor/lateral_factor: 0.01576

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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: 0.05 Viewer.KeyFrameLineWidth: 1 Viewer.GraphLineWidth: 0.9 Viewer.PointSize:2 Viewer.CameraSize: 0.08 Viewer.CameraLineWidth: 3 Viewer.ViewpointX: 0 Viewer.ViewpointY: -0.7 Viewer.ViewpointZ: -1.8 Viewer.ViewpointF: 500

1) Is Pinhole the only option for CameraType? What should it be for a D435i?

2) When running ORB SLAM3, the Graph and Keyframes are strangely, all over the place, The map also constantly resets as I move the camera, erasing all the points. After awhile, everything freezes and the cmd line shows id last: 222 id curr: 223 id last: 222 id curr: 224 id last: 222 id curr: 225 id last: 222 id curr: 226 ................ as id curr keeps increasing

Have been trying to fix these issues for so long and its really frustrating. Any help is greatly appreciated!

[Sherlock-hh]

hello，I met the same problem , have you fix it yet, I dig with code, It's shows the last frame 'timestamps didn't refresh, so the diff between current frame is keeping increasing, so every time it's come to this code ,it throw the info, should I just reset the map? looking for your reply, thank you very much

[Maithilishetty]

@MrOCW have you fixed this yet?

[hseysen]

I suspect the issue may be due to the calibration, which results in inaccurate feature tracking, ultimately losing track of the features and moving randomly.

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

These values in the .yaml file lead me to believe that you have not calibrated the camera, or may have forgotten to add the distortion coefficients. See Kalibr for Camera-IMU calibration.