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ashishkumar822 / Jetson-SLAM

A high Speed GPU accelerated SLAM for Low Powered Devices, IEEE- RAL-2023, ICRA 2024
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warning while running stereo_live #8

Open 593537505 opened 3 days ago

593537505 commented 3 days ago

hi, I got a warning while running stereolive ： [ WARN:0@3.694] global loadsave.cpp:241 findDecoder imread(''): can't open/read file: check file path/integrity [ WARN:0@3.776] global loadsave.cpp:241 findDecoder imread_(''): can't open/read file: check file path/integrity and I noticed that this is the mask in the stereo_rig_realsense.yaml, how do I fix it . looking forward to your reply! Thanks!

ashishkumar822 commented 3 days ago

Hello @593537505 , there will be two mask path for each left and right image. Only non-zero regions in the mask shall be used to detect and extract keypoints. These masks are helpful when the camera is mounted on a structure and some part of the structure is always present in the camera field of view. Manytimes, this leads to static keypoints on the structure visible in the camera which degrades SLAM's accuracy because these points never moves w.r.t. camera.

If you do not have such requirement, you can simply create a white image of size equal to the RGB image size that would be supplied into Jetson-SLAM.

e.g. If your RGB/grayscale image size is 240x240, simply create a mask of size 240x240 and supply the path to the yaml file. IF you need to hide some regions of the image, you can choose linux tool such as "GIMP" or any software of your choice.