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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
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Running TUM1.yaml with ros successfully , but only appear map viewer and not appear current frame. #571

Open paGto opened 2 years ago

paGto commented 2 years ago

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 /home/lididas/ORB_SLAM3/Examples/Monocular/TUM1.yaml -Loaded camera 1 Camera.newHeight optional parameter does not exist... Camera.newWidth optional parameter does not exist... -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): [ 517.306 516.469 318.643 255.314 ] -Camera 1 distortion parameters: [ 0.262383 -0.953104 -0.005358 0.002628 1.16331 ] -Original image size: [ 640 , 480 ] -Current image size: [ 640 , 480 ] -Sequence FPS: 30 -Features per image: 1000 -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 Local Mapping STOP First KF:0; Map init KF:0 New Map created with 164 points ^CShutdown

Saving keyframe trajectory to KeyFrameTrajectory.txt ... 段错误 (核心已转储)

fayu-ma commented 2 years ago

I have the same problem. Have you successed. 我遇到了同样的问题，请问你解决了吗

paGto commented 2 years ago

I have solved it! I changed the version of opencv in /orb_slam3/Examples/ROS/orb_slam3/cmakelists.txt

fayu-ma commented 2 years ago

I have solved it! I changed the version of opencv in /orb_slam3/Examples/ROS/orb_slam3/cmakelists.txt

what`s the version of opencv

paGto commented 2 years ago

opencv4.2

------------------ 原始邮件 ------------------ 发件人: @.>; 发送时间: 2022年5月17日(星期二) 下午4:43 收件人: @.>; 抄送: @.>; @.>; 主题: Re: [UZ-SLAMLab/ORB_SLAM3] Running TUM1.yaml with ros successfully , but only appear map viewer and not appear current frame. (Issue #571)

我已经解决了它！我改变了 opencv 的版本/orb_slam3/Examples/ROS/orb_slam3/cmakelists.txt

opencv 是什么版本

— 直接回复此邮件，在 GitHub 上查看或取消订阅. 你正在接收这个，因为你创作这个线程。留言 ID @.*** have solved it! I changed the version of opencv in /orb_slam3/Examples/ROS/orb_slam3/cmakelists.txt.what`s the version of opencv

fayu-ma commented 2 years ago

你用orbslam3跑过自己采的数据吗

paGto commented 2 years ago

没有

------------------ 原始邮件 ------------------ 发件人: @.>; 发送时间: 2022年5月17日(星期二) 下午4:46 收件人: @.>; 抄送: @.>; @.>; 主题: Re: [UZ-SLAMLab/ORB_SLAM3] Running TUM1.yaml with ros successfully , but only appear map viewer and not appear current frame. (Issue #571)

你用orbslam3跑过自己采的数据吗

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