error: reference image 174 has not enough images in view

[fanshixiong]

你好，使用orbslam2跑出sfm.txt后，放入openmvs中运行， 出现了这个问题。

17:19:34 [App     ] CPU: Intel(R) Core(TM) i5-8400 CPU @ 2.80GHz (6 cores)
17:19:34 [App     ] RAM: 15.51GB Physical Memory 0B Virtual Memory
17:19:34 [App     ] OS: Linux 5.10.0-8-generic (x86_64)
17:19:34 [App     ] Disk: 23.68GB (78.24GB) space
17:19:34 [App     ] SSE & AVX compatible CPU & OS detected
17:19:34 [App     ] Command line: -w /home/frans/code/data/npu_image -i sfm.txt -o dense.mvs
We are using Keyframe from SLAM to achieve 3D reconstruction
===========read_mvs_pose========
===========save_pointcloud_obj========
===========save_pointcloud_obj========
load mvs ok 
numViews 204
deal with feature points
=====================load_scene==================end======
17:19:35 [App     ] Preparing images for dense reconstruction completed: 204 images (572ms)
17:19:35 [App     ] error: reference image  56 has not enough images in view
···
17:19:37 [App     ] error: reference image 146 has not enough images in view
17:19:37 [App     ] error: reference image  67 has not enough images in view
17:19:37 [App     ] error: reference image 139 has not enough images in view
···
17:19:38 [App     ] error: reference image 120 has not enough images in view
17:19:38 [App     ] error: reference image  39 has not enough images in view
17:19:38 [App     ] error: reference image 174 has not enough images in view
17:19:38 [App     ] Selecting images for dense reconstruction completed: 0 images (3s156ms)
Fused depth-maps 0 (100%, 0ms)
17:19:38 [App     ] Depth-maps fused and filtered: 0 depth-maps, 0 depths, 0 points (-2147483648%%) (0ms)
17:19:38 [App     ] Densifying point-cloud completed: 0 points (3s812ms)
17:19:38 [App     ] Scene saved (1ms):
    204 images (204 calibrated)
    0 points, 0 vertices, 0 faces
17:19:38 [App     ] MEMORYINFO: {
17:19:38 [App     ]     VmPeak:  1368416 kB
17:19:38 [App     ]     VmSize:  1302880 kB
17:19:38 [App     ] } ENDINFO

这个问题是点云太少了吗？谢谢解答。

[WangWen-Believer]

应该是视角原因导致需要找不到其他帧，这个问题应该不是影响你现在的结果，建议自己debug一下，看看哪里出了问题。

[fanshixiong]

应该是视角原因导致需要找不到其他帧，这个问题应该不是影响你现在的结果，建议自己debug一下，看看哪里出了问题。

好的，谢谢你的解答。就是看openmvs里面哪里有问题导致加载不到别的参考帧吗？

[WangWen-Believer]

就这几张图片没有足够的参考帧 这个问题你可以先忽略，先查查其他的图片怎么没有生成稠密点云

[fanshixiong]

就这几张图片没有足够的参考帧 这个问题你可以先忽略，先查查其他的图片怎么没有生成稠密点云

谢谢回复，我的数据是无人机飞行数据。大部分都是这样的204帧只有几帧是没有这个问题的。这个应该是数据集的问题吗？

[WangWen-Believer]

或者传进去的位姿有问题，你先手持做个测试数据集

[fanshixiong]

好的，谢谢解答。