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abhineet123 / ORB_SLAM2

Modified version of ORB SLAM for an autonomous navigation project
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Wrong initialization #4

Open stephen2183 opened 6 years ago

stephen2183 commented 6 years ago

Hi,

Thanks greatly for sharing this code, it is really helpful. I tried to use this package to generate 2D grid map, but there are some problems:

  1. I just used Monopub and Monosub to generate the 2D map, is that true?
  2. When I running Monopub, it could work but it could not extract feature points, leading to the problem like following: 2017-11-20 9 13 38

How could I solve these problems? Thanks for the help!

jahaniam commented 6 years ago

This might be because of wrong camera calibration. Make sure you can run your data on Original ORBSLAM first.

stephen2183 commented 6 years ago

@a-jahani I can run Original Orbslam2 successfully, but Monopub didn't work with the same camera calibration file.

jahaniam commented 6 years ago

a quick way to bypass is to find out which frame is giving you wrong initialization and feed the orb slam with the rest of the frames after that frame.

This wrong initialization is in src/Tracking.cc line 693-695 which means you must get this in original orbslam as well.

stephen2183 commented 6 years ago

@a-jahani I still could not solve the problem, and when I tried to fix the bug I faced another question. I tried this command to test the function, but it failed with the error--"Segment fault". I had tried many times, but the results were the same.

rosrun ORB_SLAM2 Monopub Vocabulary/ORBvoc.txt Examples/Monocular/KITTI00-02.yaml /home/abhineet/KITTI/00 0

What does it mean and how could I solve this problem? Thanks!

jahaniam commented 6 years ago

"/home/abhineet/KITTI/00" is the address to kitti odometry dataset sequence 00. You should change it to yours!

zhoushuailin commented 2 years ago

@a-jahani I still could not solve the problem, and when I tried to fix the bug I faced another question. I tried this command to test the function, but it failed with the error--"Segment fault". I had tried many times, but the results were the same.

rosrun ORB_SLAM2 Monopub Vocabulary/ORBvoc.txt Examples/Monocular/KITTI00-02.yaml /home/abhineet/KITTI/00 0

What does it mean and how could I solve this problem? Thanks!

have you solved the problem? i changed the dataset path ,but i got Segment fault.