Points and frames initialized quickly (ROS command)

LimSsun commented 2 years ago

Hi, I tried to run ORB SLAM3 with using ROS. When I run ORB SLAM3 with this command to use Mono-inertial version "rosrun ORB_SLAM3 Mono_Inertial ~/ORB_SLAM3/Vocabulary/ORBvoc.txt ~/ORB_SLAM3/Examples/Monocular-Inertial/RealSense_D435i.yaml /camera/image_raw:=/camera/color/image_raw /imu:=/camera/imu", Screens, points, and frames appear, but points and frames are quickly initialized and disappear. It's happening and disappearing repeatedly. Below is an error message that appears in the terminal window when the command is entered. Can I know the reason and solution for this error?

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-Inertial Loading settings from /home/hi-slam/ORB_SLAM3/Examples/Monocular-Inertial/RealSense_D435i.yaml Camera1.k3 optional parameter does not exist... -Loaded camera 1 Camera.newHeight optional parameter does not exist... Camera.newWidth optional parameter does not exist... -Loaded image info -Loaded IMU calibration -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): [ 382.613 382.613 320.183 236.455 ] -Camera 1 distortion parameters: [ 0 0 0 0 ] -Original image size: [ 640 , 480 ] -Current image size: [ 640 , 480 ] -Sequence FPS: 30 -Gyro noise: 0.001 -Accelerometer noise: 0.01 -Gyro walk: 1e-06 -Accelerometer walk: 0.0001 -IMU frequency: 200 -Features per image: 1250 -ORB scale factor: 1.2 -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 Starting the Viewer First KF:0; Map init KF:0 New Map created with 182 points Not enough motion for initializing. Reseting... TRACK: Reset map because local mapper set the bad imu flag LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex SYSTEM-> Reseting active map in monocular case 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 = 282 mnInitialFrameId = 0 72 Frames set to lost First KF:12; Map init KF:0 New Map created with 216 points Not enough motion for initializing. Reseting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex Not enough motion for initializing. Reseting... TRACK: Reset map because local mapper set the bad imu flag LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex SYSTEM-> Reseting active map in monocular case 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 = 514 mnInitialFrameId = 354 142 Frames set to lost