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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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points and path disappear and start over, every minute in ORB SLAM3 Ros #886

Open Spnd77 opened 7 months ago

Spnd77 commented 7 months ago

Hi everyone. I Start working on ORBSLAM3, I used of: Ubuntu 20.04 Camera: RealSense T265 Jetson xavier jetPack 5.1.2 L4T: 35.4.1 RealSense SDK 2.50.0 Open CV: 4.5.4 when I run ORBSLAM3 it can detect points and path in Orbslam Map viewer, But when I move camera, every minute points and path disappear and it start again... how I can fix this issue? it's need special config to can show path and points realtime??

Problem 2: I read calibration pdf, it say you should configure TBC1 and TC1C2 in stereo Inertial, and it say Camera2(c2) is Right Camera in T265 but in RealSense_T265.yaml is C2 as left Camera:

Transformation matrix from right camera to left camera

Stereo.T_c1_c2: !!opencv-matrix rows: 4 cols: 4 dt: f data: [ 0.999983, 0.00445005, 0.00385861, 0.0636739954352379, -0.00443664, 0.999984, -0.00347621, -0.000252007856033742, -0.00387402, 0.00345903, 0.999986, -8.87895439518616e-05, 0.0, 0.0, 0.0, 1.0]

which is Correct? please Help me for these issues.

basedball commented 7 months ago

What are the messages being output to the console when it resets?

Spnd77 commented 7 months ago

Thank you @basedball

I have these lines in terminal:

`` Input sensor was set to: Stereo-Inertial Loading settings from /home/vn/catkin_ws/src/orb_slam3_ros/config/Stereo-Inertial/Realsense_T265.yaml -Loaded camera 1 -Loaded camera 2 Camera.newHeight optional parameter does not exist... Camera.newWidth optional parameter does not exist... -Loaded image info -Loaded IMU calibration -Loaded ORB settings -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 (Kannala-Brandt): [ 283.795 284.952 424.865 396.591 -0.0027128 0.0366888 -0.0354853 0.0059001 ] -Camera 2 parameters (Kannala-Brandt): [ 284.718 285.687 430.758 396.512 -0.00173706 0.0350818 -0.0336628 0.00533116 ] -Original image size: [ 848 , 800 ] -Current image size: [ 848 , 800 ] -Sequence FPS: 30 -Stereo baseline: 0.0636746 -Stereo depth threshold : 40 -Camera 1 overlapping area: [ 0 , 848 ] -Camera 2 overlapping area: [ 0 , 848 ] -Gyro noise: 0.001 -Accelerometer noise: 0.01 -Gyro walk: 1e-07 -Accelerometer walk: 1e-07 -IMU frequency: 200 -Features per image: 1200 -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... [ INFO] [1714192847.084943190]: rviz version 1.14.20 [ INFO] [1714192847.085183415]: compiled against Qt version 5.12.8 [ INFO] [1714192847.085296518]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1714192847.117307769]: Forcing OpenGl version 0. 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 2 cameras in the atlas Camera 0 is fisheye Camera 2 is fisheye [ INFO] [1714192848.612980547]: Stereo is NOT SUPPORTED [ INFO] [1714192848.613352949]: OpenGL device: NVIDIA Tegra Xavier (nvgpu)/integrated [ INFO] [1714192848.613483078]: OpenGl version: 4.6 (GLSL 4.6). Starting the Viewer not IMU meas Map point vector is empty! not IMU meas Map point vector is empty! not enough acceleration Map point vector is empty! First KF:0; Map init KF:0 New Map created with 177 points [ INFO] [1714192857.483827252]: Finished waiting for tf, waited 11.007096 seconds 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 = 3 mnInitialFrameId = 0 14 Frames set to lost not IMU meas Map point vector is empty! First KF:12; Map init KF:0 New Map created with 147 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 = 18 mnInitialFrameId = 16 34 Frames set to lost not IMU meas Map point vector is empty! First KF:22; Map init KF:12 New Map created with 260 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 = 39 mnInitialFrameId = 37 55 Frames set to lost not IMU meas Map point vector is empty! First KF:34; Map init KF:22 New Map created with 219 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 = 61 mnInitialFrameId = 59 77 Frames set to lost not IMU meas Map point vector is empty! First KF:45; Map init KF:34 New Map created with 71 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 = 84 mnInitialFrameId = 82 80 Frames set to lost not IMU meas Map point vector is empty! First KF:46; Map init KF:45 New Map created with 66 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 = 88 mnInitialFrameId = 86 82 Frames set to lost not IMU meas Map point vector is empty! First KF:47; Map init KF:46 New Map created with 111 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 = 91 mnInitialFrameId = 89 85 Frames set to lost not IMU meas Map point vector is empty! First KF:48; Map init KF:47 New Map created with 178 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 = 95 mnInitialFrameId = 93 102 Frames set to lost not IMU meas Map point vector is empty! ``