t265 + Stereo_Inertial + Ros + realtime

[aravindSolteq]

Hi, I'm currently trying to run ORB SLAM 3 with Intel realsense t265 in Stereo Inertial mode. I can run the ORB SLAM 3, but the map resets for every 10 frames and I couldnt solve it by any means

IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
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 = 520
mnInitialFrameId = 518
431 Frames set to lost
not IMU meas
First KF:105; Map init KF:104
New Map created with 245 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
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 = 523
mnInitialFrameId = 521
433 Frames set to lost
not IMU meas
First KF:106; Map init KF:105
New Map created with 214 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
LM: Active map reset recieved
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 = 526
mnInitialFrameId = 524
435 Frames set to lost
not IMU meas
First KF:107; Map init KF:106
New Map created with 246 points
Fail to track local map!
IMU is not or recently initialized. Reseting active map...

can you please help me wtih this solution

[sumitsarkar1]

share your yaml file please

[aravindSolteq]

Here is my yaml file for t265.

%YAML:1.0

#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
Camera.type: "PinHole"

# Left Camera calibration and distortion parameters (OpenCV)
Camera.fx: 306.56357097653495 
Camera.fy: 305.56042118353184
Camera.cx: 434.2944063512854
Camera.cy: 394.2731238071397

# PinHole distortion parameters
Camera.k1: -0.28394309239916604
Camera.k2: 0.06846916170247387
Camera.p1: 6.813344248087167e-05
Camera.p2: -0.003363583581458696

# Right Camera calibration and distortion parameters (OpenCV)
Camera2.fx: 307.0145428737875 
Camera2.fy: 305.70433211159366
Camera2.cx: 434.39538239909575
Camera2.cy:  392.8478563244833

# PinHole distortion parameters
Camera2.k1: -0.28770827311876207 
Camera2.k2: 0.07146524167094274
Camera2.p1: 0.00045536748109210147
Camera2.p2: -0.0023976845889413247

# Transformation matrix from right camera to left camera
Tlr: !!opencv-matrix
  rows: 3
  cols: 4
  dt: f
  data: [ 0.9999411252356276, 0.001724774265428219, 0.010713132886021406, -0.06357291767834125,
          -0.0017355224147441234, 0.999997999908411, 0.000994052875333053, 6.242827075813476e-05,
          -0.010711396941956615, -0.0010125872329600702, 0.9999421186461949, -0.0007602738114222626]

# Lapping area between images
Camera.lappingBegin: 0
Camera.lappingEnd: 847

Camera2.lappingBegin: 0
Camera2.lappingEnd: 847

# Camera resolution
Camera.width: 848
Camera.height: 800

# Camera frames per second 
Camera.fps: 30.0

# 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: 35.0
Camera.bf: 19.490543672

# Transformation from body-frame (imu) to left camera
Tbc: !!opencv-matrix
   rows: 4
   cols: 4
   dt: f
   data: [-0.99967008, 0.00383731, -0.02539712, 0.00381778,
          -0.00379978, -0.99999162, -0.00152601,  0.0547511,
         -0.02540276, -0.00142901, 0.99967628, -0.03778417,
          0.0, 0.0, 0.0, 1.0]

# IMU noise (Use those from VINS-mono)
IMU.NoiseGyro: 0.00531091888368 # 0.004 (VINS) # 0.00016 (TUM) # 0.00016    # rad/s^0.5 
IMU.NoiseAcc: 0.0188670828051 # 0.04 (VINS) # 0.0028 (TUM) # 0.0028     # m/s^1.5
IMU.GyroWalk: 2.01765706199e-05 # 0.000022 (VINS and TUM) rad/s^1.5
IMU.AccWalk: 0.000515451463717 # 0.0004 (VINS) # 0.00086 # 0.00086    # m/s^2.5
IMU.Frequency: 200

#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------

# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1000 # Tested with 1250

# 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 # 20
ORBextractor.minThFAST: 7 # 7

#--------------------------------------------------------------------------------------------
# Viewer Parameters
#--------------------------------------------------------------------------------------------
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: -3.5
Viewer.ViewpointF: 500

[aravindSolteq]

Is there any Input on this @sumitsarkar1

[iamchoking]

It looks like your camera type is set to "PinHole" this is not encouraged since the camera is actually fish eye.see #88 for details.

[Chenliezhen259]

However，camera type is to the same type with real camera，with Stereo_Inertial + Ros + realtime，it also the map resets for every 10 frames and it could not mapping.