frame.id suddenly increases when testing on another dataset

[pengpeng1997]

Hello there! I'm currently testing the repo on the OpenLORIS_Scene dataset and got one error. The frame.id increases suddenly and the system stops working but I can't figure out why. Here is the data in case you want to reproduce it: https://drive.google.com/open?id=1Zs7JI2wAuYid-79Krr_H-2nvv52zVq1b And the output about the error:

-- INFO TR: Add new KF at frame 1013
!! INFO MP: Prune KF 35
-- DEBUG LM: time 1.18576e-322, number of KF 4
-- DEBUG LM: time 1.30748 ms.
## DEBUG GM: loopTime = 1.27434, numKFs = 34, numMPs = 1006
-- INFO TR: Add new KF at frame 1027
-- DEBUG LM: time 6.91918e-310, number of KF 5
## DEBUG GM: loopTime = 1.30663, numKFs = -- DEBUG LM: time 2.4945 ms.
35, numMPs = 1016
-- INFO TR: Add new KF at frame 1037
-- DEBUG LM: time 6.91918e-310, number of KF 6
-- DEBUG LM: time 1.81965 ms.
## DEBUG GM: loopTime = 1.03737, numKFs = 36, numMPs = 1016
-- INFO TR: Add new KF at frame 1046
!! INFO MP: Prune KF 39
-- DEBUG LM: time 1.18576e-322, number of KF 6
-- DEBUG LM: time 3.25863 ms.
## DEBUG GM: loopTime = 2.36911, numKFs = 36, numMPs = 1016
-- INFO TR: Add new KF at frame 1062
## DEBUG GM: loopTime = 0.925425, numKFs = 37, numMPs = 1016
!! INFO MP: Prune KF 40
-- DEBUG LM: time 1.18576e-322, number of KF 6
-- DEBUG LM: time 2.15973 ms.
-- INFO TR: Add new KF at frame 32606
## DEBUG GM: loopTime = 0.783606, numKFs = 37, numMPs = 1016
-- DEBUG LM: time 6.91918e-310, number of KF 6
-- DEBUG LM: time 2.34234 ms.

Thanks if you have any idea about this problem!

[izhengfan]

Thanks for the feedback, will look into it soon.

[pengpeng1997]

Finally I found that the reason is none feature point can be extracted from one of the frame in my test data. So line 129 mFrame = Frame(img, odo, mpORBextractor, Config::Kcam, Config::Dcam); in ./src/Track.cpp directly return(line 29 in ./src/Frame.cpp) without assigning a value to the id. I think this kind of situation needs to be handled in a more robust way.

[izhengfan]

Hi, good catch, I now put the lines initializing frame id before that return, check the latest update.