hi
i have author error
now i'm trying to run algorithm with d415 camera
in ubuntu 20.04
opencv == 4.5.2
ros= noetic
first i run roscore
then in terminal 2 i run roslaunch realsense2_camera rs_rgbd.launch
then i run roslaunch orbslam2_ros run_rgbd.launch
but i have this error
roslaunch orbslam2_ros run_rgbd.launch
... logging to /home/ai/.ros/log/05f1d352-f6f8-11ec-9320-dbb172fd40b3/roslaunch-ai-25803.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
process[orbslam2_rgbd-1]: started with pid [25832]
ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, 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: RGB-D
Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!
Camera Parameters:
fx: 617.216
fy: 616.526
cx: 332.224
cy: 238.905
k1: 0
k2: 0
p1: 0
p2: 0
fps: 30
color order: RGB (ignored if grayscale)
ORB Extractor Parameters:
Number of Features: 1000
Scale Levels: 8
Scale Factor: 1.2
Initial Fast Threshold: 20
Minimum Fast Threshold: 7
Depth Threshold (Close/Far Points): 2.2
[orbslam2_rgbd-1] process has died [pid 25832, exit code -11, cmd /home/ai/catkin_ws5/src/orb_slam2_cg/platforms/ros_wrapper/devel/lib/orbslam2_ros/RGBD /home/ai/catkin_ws5/src/orb_slam2_cg/Vocabulary/ORBvoc.txt /home/ai/catkin_ws5/src/orb_slam2_cg/platforms/app/RGB-D/Asus.yaml /camera/rgb/image_raw:=/camera/rgb/image_color /camera/depth_registered/image_raw:=/camera/depth/image __name:=orbslam2_rgbd __log:=/home/ai/.ros/log/05f1d352-f6f8-11ec-9320-dbb172fd40b3/orbslam2_rgbd-1.log].
log file: /home/ai/.ros/log/05f1d352-f6f8-11ec-9320-dbb172fd40b3/orbslam2_rgbd-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
hi i have author error now i'm trying to run algorithm with d415 camera in ubuntu 20.04 opencv == 4.5.2 ros= noetic
first i run roscore
then in terminal 2 i run roslaunch realsense2_camera rs_rgbd.launch
then i run roslaunch orbslam2_ros run_rgbd.launch
but i have this error
roslaunch orbslam2_ros run_rgbd.launch ... logging to /home/ai/.ros/log/05f1d352-f6f8-11ec-9320-dbb172fd40b3/roslaunch-ai-25803.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ai:33741/
SUMMARY
PARAMETERS
NODES / orbslam2_rgbd (orbslam2_ros/RGBD)
ROS_MASTER_URI=http://localhost:11311
process[orbslam2_rgbd-1]: started with pid [25832]
ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, 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: RGB-D
Loading ORB Vocabulary. This could take a while... Vocabulary loaded!
Camera Parameters:
ORB Extractor Parameters:
Depth Threshold (Close/Far Points): 2.2 [orbslam2_rgbd-1] process has died [pid 25832, exit code -11, cmd /home/ai/catkin_ws5/src/orb_slam2_cg/platforms/ros_wrapper/devel/lib/orbslam2_ros/RGBD /home/ai/catkin_ws5/src/orb_slam2_cg/Vocabulary/ORBvoc.txt /home/ai/catkin_ws5/src/orb_slam2_cg/platforms/app/RGB-D/Asus.yaml /camera/rgb/image_raw:=/camera/rgb/image_color /camera/depth_registered/image_raw:=/camera/depth/image __name:=orbslam2_rgbd __log:=/home/ai/.ros/log/05f1d352-f6f8-11ec-9320-dbb172fd40b3/orbslam2_rgbd-1.log]. log file: /home/ai/.ros/log/05f1d352-f6f8-11ec-9320-dbb172fd40b3/orbslam2_rgbd-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done
--------------------------------------------------------------------------------------------
Camera Parameters. Adjust them!
--------------------------------------------------------------------------------------------
Camera.type: "PinHole"
Camera calibration and distortion parameters (OpenCV)
Camera.fx: 617.2155151367188 Camera.fy: 616.5257568359375 Camera.cx: 332.2236633300781 Camera.cy: 238.90542602539062
Camera.k1: 0.0 Camera.k2: 0.0 Camera.p1: 0.0 Camera.p2: 0.0
Camera.width: 1280 Camera.height: 720
Camera frames per second
Camera.fps: 30.0
IR projector baseline times fx (aprox.)
Camera.bf: 33.9468533
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
Deptmap values factor，将深度像素值转化为实际距离，原来单位是 mm，转化成 m
DepthMapFactor: 1000.0
ORB Parameters
--------------------------------------------------------------------------------------------
ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1000
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: 0.05 Viewer.KeyFrameLineWidth: 1 Viewer.GraphLineWidth: 0.9 Viewer.PointSize:2 Viewer.CameraSize: 0.08 Viewer.CameraLineWidth: 3 Viewer.ViewpointX: 0 Viewer.ViewpointY: -0.7 Viewer.ViewpointZ: -1.8 Viewer.ViewpointF: 500
it work with ORB-SLAM3 and i have anthor orb-slam2-ros version from this link | https://github.com/appliedAI-Initiative/orb_slam_2_ros and the mono work with d415 by this command
................... this video to how the error happened https://drive.google.com/file/d/1cIZ7xsSqeDcETgA01QYVipBXra5cXgdE/view?usp=sharing