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
6.35k stars 2.5k forks source link

Some frames missing in the saved trajectory #526

Open catproof opened 2 years ago

catproof commented 2 years ago

I configured Orb Slam to automatically save the full trajectory after doing a test run using data from a rosbag, and I notice that some frames are missing. For example, the rosbag I am using may have 4000 video frames, but the saved trajectory has 3900 frames only. I am using a stereo camera (no IMU data)

Is this normal? there is no indication while running that 'tracking failed' or any other error like that. I imagine there is just a few frames once in a while that don't track properly, but tracking does not completely fail. Thus some frames are missing without total failure of the SLAM algorithm.

lawpdas commented 2 years ago

The same problem. I run monocular_tum on my own data and use SaveTrajectoryEuRoC to save camera trajectory. But there are only 328 frames have been saved for a 1000 frames video.

    // Save camera trajectory
    SLAM.SaveKeyFrameTrajectoryTUM(string(argv[3])+"ORB_SLAM3_KeyFrameTrajectory.txt");
    SLAM.SaveTrajectoryEuRoC(string(argv[3])+"ORB_SLAM3_CameraTrajectory.txt");
catproof commented 2 years ago

I tried running the same data again, but on a stronger computer. It saved more frames when running on a stronger machine.