nesquik011
commented
4 months ago i used opencv 4.8.1 , and 4.5.3 still the same problem , 3 different yamls
%YAML:1.0
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Camera Parameters. Adjust them!
--------------------------------------------------------------------------------------------
===> NOTICE: Add camera model here <===
Camera.type: "PinHole"
Camera calibration and distortion parameters (OpenCV)
Camera.fx: 718.856 Camera.fy: 718.856 Camera.cx: 607.1928 Camera.cy: 185.2157
Camera.k1: 0.0 Camera.k2: 0.0 Camera.p1: 0.0 Camera.p2: 0.0
Camera.bFishEye: 0
Camera.width: 1241 Camera.height: 376
Camera frames per second
Camera.fps: 10.0
stereo baseline times fx
Camera.bf: 386.1448
Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1
Close/Far threshold. Baseline times.
ThDepth: 40.0
============================================================
===> NOTICE: Add camera parameters here <===
LEFT.height: 1241 LEFT.width: 376 LEFT.D: !!opencv-matrix rows: 1 cols: 5 dt: d data: [0.0, 0.0, 0.0, 0.0, 0.0] LEFT.K: !!opencv-matrix rows: 3 cols: 3 dt: d data: [718.856, 0.0, 607.1928, 0.0, 718.856, 185.2157, 0.0, 0.0, 1.0] LEFT.R: !!opencv-matrix rows: 3 cols: 3 dt: d data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0] LEFT.P: !!opencv-matrix rows: 3 cols: 4 dt: d data: [7.188560000000e+02, 0.000000000000e+00, 6.071928000000e+02, 0.000000000000e+00, 0.000000000000e+00, 7.188560000000e+02, 1.852157000000e+02, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00, 0.000000000000e+00]
RIGHT.height: 1241 RIGHT.width: 376 RIGHT.D: !!opencv-matrix rows: 1 cols: 5 dt: d data: [0.0, 0.0, 0.0, 0.0, 0.0] RIGHT.K: !!opencv-matrix rows: 3 cols: 3 dt: d data: [718.856, 0.0, 607.1928, 0.0, 718.856, 185.2157, 0.0, 0.0, 1.0] RIGHT.R: !!opencv-matrix rows: 3 cols: 3 dt: d data: [0.9999633526194376, -0.003625811871560086, 0.007755443660172947, 0.003680398547259526, 0.9999684752771629, -0.007035845251224894, -0.007729688520722713, 0.007064130529506649, 0.999945173484644] RIGHT.P: !!opencv-matrix rows: 3 cols: 4 dt: d data: [7.188560000000e+02, 0.000000000000e+00, 6.071928000000e+02, -3.861448000000e+02, 0.000000000000e+00, 7.188560000000e+02, 1.852157000000e+02, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00, 0.000000000000e+00]
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ORB Parameters
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ORB Extractor: Number of features per image
ORBextractor.nFeatures: 2000
ORB Extractor: Scale factor between levels in the scale pyramid
ORBextractor.scaleFactor: 1.2
ORB Extractor: Number of levels in the scale pyramid
ORBextractor.nLevels: 8
ORB Extractor: Fast threshold
Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
You can lower these values if your images have low contrast
ORBextractor.iniThFAST: 20 ORBextractor.minThFAST: 7
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Viewer Parameters
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Viewer.KeyFrameSize: 0.6 Viewer.KeyFrameLineWidth: 2 Viewer.GraphLineWidth: 1 Viewer.PointSize: 2 Viewer.CameraSize: 0.7 Viewer.CameraLineWidth: 3 Viewer.ViewpointX: 0 Viewer.ViewpointY: -100 Viewer.ViewpointZ: -0.1 Viewer.ViewpointF: 2000
#################################################################
%YAML:1.0
--------------------------------------------------------------------------------------------
Camera Parameters. Adjust them!
--------------------------------------------------------------------------------------------
File.version: "1.0"
Camera.type: "Rectified"
Camera calibration and distortion parameters (OpenCV)
Camera1.fx: 707.0912 Camera1.fy: 707.0912 Camera1.cx: 601.8873 Camera1.cy: 183.1104
Camera.width: 1241 Camera.height: 376
Camera frames per second
Camera.fps: 10
Stereo.b: 0.53715
Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1
Close/Far threshold. Baseline times.
Stereo.ThDepth: 40.0
--------------------------------------------------------------------------------------------
ORB Parameters
--------------------------------------------------------------------------------------------
ORB Extractor: Number of features per image
ORBextractor.nFeatures: 2000
ORB Extractor: Scale factor between levels in the scale pyramid
ORBextractor.scaleFactor: 1.2
ORB Extractor: Number of levels in the scale pyramid
ORBextractor.nLevels: 8
ORB Extractor: Fast threshold
Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
You can lower these values if your images have low contrast
ORBextractor.iniThFAST: 12 ORBextractor.minThFAST: 7
--------------------------------------------------------------------------------------------
Viewer Parameters
--------------------------------------------------------------------------------------------
Viewer.KeyFrameSize: 0.6 Viewer.KeyFrameLineWidth: 2.0 Viewer.GraphLineWidth: 1.0 Viewer.PointSize: 2.0 Viewer.CameraSize: 0.7 Viewer.CameraLineWidth: 3.0 Viewer.ViewpointX: 0.0 Viewer.ViewpointY: -100.0 Viewer.ViewpointZ: -0.1 Viewer.ViewpointF: 2000.0
##############################################
%YAML:1.0
--------------------------------------------------------------------------------------------
Camera Parameters. Adjust them!
--------------------------------------------------------------------------------------------
Camera.type: "PinHole"
Camera calibration and distortion parameters (OpenCV)
Camera.fx: 707.0912 Camera.fy: 707.0912 Camera.cx: 601.8873 Camera.cy: 183.1104
Camera.k1: 0.0 Camera.k2: 0.0 Camera.p1: 0.0 Camera.p2: 0.0
Camera.bFishEye: 0
Camera.width: 1241 Camera.height: 376
Camera frames per second
Camera.fps: 10.0
stereo baseline times fx
Camera.bf: 379.8145
Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1
Close/Far threshold. Baseline times.
ThDepth: 40.0
--------------------------------------------------------------------------------------------
ORB Parameters
--------------------------------------------------------------------------------------------
ORB Extractor: Number of features per image
ORBextractor.nFeatures: 2000
ORB Extractor: Scale factor between levels in the scale pyramid
ORBextractor.scaleFactor: 1.2
ORB Extractor: Number of levels in the scale pyramid
ORBextractor.nLevels: 8
ORB Extractor: Fast threshold
Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
You can lower these values if your images have low contrast
ORBextractor.iniThFAST: 12 ORBextractor.minThFAST: 7
--------------------------------------------------------------------------------------------
Viewer Parameters
--------------------------------------------------------------------------------------------
Viewer.KeyFrameSize: 0.6 Viewer.KeyFrameLineWidth: 2 Viewer.GraphLineWidth: 1 Viewer.PointSize:2 Viewer.CameraSize: 0.7 Viewer.CameraLineWidth: 3 Viewer.ViewpointX: 0 Viewer.ViewpointY: -100 Viewer.ViewpointZ: -0.1 Viewer.ViewpointF: 2000
kimzheng1204
casimirfeldmann
i have a problem , i am running stereo kitti example , and i used this yaml
%YAML:1.0
--------------------------------------------------------------------------------------------
Camera Parameters. Adjust them!
--------------------------------------------------------------------------------------------
Camera.type: "PinHole"
Camera calibration and distortion parameters (OpenCV)
Camera.fx: 718.856 Camera.fy: 718.856 Camera.cx: 607.1928 Camera.cy: 185.2157
Camera.k1: 0.0 Camera.k2: 0.0 Camera.p1: 0.0 Camera.p2: 0.0
Camera.bFishEye: 0
Camera.width: 1241 Camera.height: 376
Camera frames per second
Camera.fps: 10.0
stereo baseline times fx
Camera.bf: 386.1448
Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1
Close/Far threshold. Baseline times.
ThDepth: 35.0
--------------------------------------------------------------------------------------------
ORB Parameters
--------------------------------------------------------------------------------------------
ORB Extractor: Number of features per image
ORBextractor.nFeatures: 2000
ORB Extractor: Scale factor between levels in the scale pyramid
ORBextractor.scaleFactor: 1.2
ORB Extractor: Number of levels in the scale pyramid
ORBextractor.nLevels: 8
ORB Extractor: Fast threshold
Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
You can lower these values if your images have low contrast
ORBextractor.iniThFAST: 20 ORBextractor.minThFAST: 7
--------------------------------------------------------------------------------------------
Viewer Parameters
--------------------------------------------------------------------------------------------
Viewer.KeyFrameSize: 0.6 Viewer.KeyFrameLineWidth: 2 Viewer.GraphLineWidth: 1 Viewer.PointSize: 2 Viewer.CameraSize: 0.7 Viewer.CameraLineWidth: 3 Viewer.ViewpointX: 0 Viewer.ViewpointY: -100 Viewer.ViewpointZ: -0.1 Viewer.ViewpointF: 2000
C:\Users\dream>"E:\orb slam 3 test\orbslam test 4\x64\Release\orbslam test 1.exe" E:/vcpkg/ORB_SLAM3/Vocabulary/ORBvoc.txt E:/vcpkg/ORB_SLAM3/Examples/Stereo/KITTI00-02.yaml D:/dataset/sequences/00
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: Stereo Loading settings from E:/vcpkg/ORB_SLAM3/Examples/Stereo/KITTI00-02.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 ORB settings Viewer.ViewpointY parameter must be a real number, aborting...
NOTE : Windows built with zero errors