i am using windows , with stereo kitti , and first of all it does not work with any yaml it only work with this yaml , and it keep losing track even if i incresed the fetures number , no imu , opencv 4.8.1
Fail to track local map!
Fail to track local map!
Fail to track local map!
Fail to track local map!
Fail to track local map!
Fail to track local map!
Fail to track local map!
Fail to track local map!
Fail to track local map!
i am using windows , with stereo kitti , and first of all it does not work with any yaml it only work with this yaml , and it keep losing track even if i incresed the fetures number , no imu , opencv 4.8.1
Fail to track local map! Fail to track local map! Fail to track local map! Fail to track local map! Fail to track local map! Fail to track local map! Fail to track local map! Fail to track local map! Fail to track local map!
%YAML:1.0
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Camera Parameters. Adjust them!
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===> 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
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===> NOTICE: Add camera parameters here <===
LEFT.height: 376 LEFT.width: 1241 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: [718.856, 0.0, 607.1928, 0.0, 0.0, 718.856, 185.2157, 0.0, 0.0, 0.0, 0.0, 1.0]
RIGHT.height: 376 RIGHT.width: 1241 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: [718.856, 0.0, 607.1928, -386.1448, 0.0, 718.856, 185.2157, 0.0, 0.0, 0.0, 1.0, 0.0]
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ORB Parameters
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ORB Extractor: Number of features per image
ORBextractor.nFeatures: 4000
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