when i try to excute EuRoc dataset, i can't see any viewer

[taehoon11]

I tried to excute Euroc dataset, It wasn't work. (I can't get any viewer (map viewer & current frame)) so i need help.... ~_~

<my course download dataset (MH01)> $ cd ~ $ mkdir -p Datasets/EuRoc $ cd Datasets/EuRoc/ $ wget -c http://robotics.ethz.ch/~asl-datasets/ijrr_euroc_mav_dataset/machine_hall/MH_01_easy/MH_01_easy.zip $ mkdir MH01 $ unzip MH_01_easy.zip -d MH01/

<my command (excute for mono)> $ cd ~ $ cd ORB_SLAM3 $ ./Examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./Examples/Monocular/EuRoC.yaml ~/Datasets/EuRoc/MH01 ./Examples/Monocular/EuRoC_TimeStamps/MH01.txt dataset-MH01_mono

< Execution result (Terminal) > num_seq = 1 file name: dataset-MH01_mono Loading images for sequence 0...LOADED!

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ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it under certain conditions. See LICENSE.txt.

Input sensor was set to: Monocular Loading settings from ./Examples/Monocular/EuRoC.yaml Camera1.k3 optional parameter does not exist... -Loaded camera 1 -Loaded image info -Loaded ORB settings Viewer.imageViewScale optional parameter does not exist... -Loaded viewer settings System.LoadAtlasFromFile optional parameter does not exist... System.SaveAtlasToFile optional parameter does not exist... -Loaded Atlas settings System.thFarPoints optional parameter does not exist... -Loaded misc parameters

SLAM settings: -Camera 1 parameters (Pinhole): [ 458.65399169921875 457.29598999023438 367.21499633789062 248.375 ] -Camera 1 distortion parameters: [ -0.28340810537338257 0.073959067463874817 0.00019359000725671649 1.7618711353861727e-05 ] -Original image size: [ 752 , 480 ] -Current image size: [ 600 , 350 ] -Camera 1 parameters after resize: [ 365.94735717773438 333.44500732421875 292.99069213867188 181.10678100585938 ] -Sequence FPS: 20 -Features per image: 1000 -ORB scale factor: 1.2000000476837158 -ORB number of scales: 8 -Initial FAST threshold: 20 -Min FAST threshold: 7

Loading ORB Vocabulary. This could take a while... Vocabulary loaded!

Initialization of Atlas from scratch Creation of new map with id: 0 Creation of new map with last KF id: 0 Seq. Name: There are 1 cameras in the atlas Camera 0 is pinhole First KF:0; Map init KF:0 New Map created with 346 points

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well... I installed ORB SLAM3 pkg, and I built my pkg. Using ./build.sh and ./build_ros.sh when i type commands to my terminal,

Terminal1 : $ roscore Terminal2 : $ rosrun ORB_SLAM3 Mono ~/ORB_SLAM3/Vocabulary/ORBvoc.txt ~/ORB_SLAM3/Examples/Monocular/RealSense_D435i.yaml /camera/image_raw:=/camera/color/image_raw /imu:=/camera/imu

Two screens are created. One is map viewer, the other one is current frame. and is works(i can see image & see map, keyframe..etc)

But Whenever i try to excute dataset, i can't see any viewer... obviously i always fail..... so i neeeeeeeeeed any helllllllllllllllllllp....

[vanshilshah97]

in mono_euroc.cc around line 83 change the last argument of the function to true ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, true); which is false by default and then rebuild the package.

[taehoon11]

OHHHHHHH I SUCCEED~!!!! Thanks U for your help....

-_- >>> :)

[tungtungyan]

in mono_euroc.cc around line 83 change the last argument of the function to true ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, true); which is false by default and then rebuild the package.

I have the same problem but I did solve it with this method.