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raulmur / ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
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Stuck or crash at using ORB_SLAM2 Mono #1033

Open ShamanStalker opened 2 years ago

ShamanStalker commented 2 years ago

Good day I used rosrun ORB_SLAM2 Mono ~/ORB_SLAM2/Vocabulary/ORBvoc.txt ~/ORB_SLAM2/Examples/Monocular/our.yaml /camera/image_raw:=/usb_cam/image_raw The viewport opens and I see lots of green lines and points, but the process stuck at TRYING TO INITIALIZE. If I change ORBextractor.nFeatures in our.yaml from 1000 to 2000, it will case nothing. If ORBextractor.nFeatures more then 4000-5000, then ORB_SLAM2 crashes with New Map created with 109 points Segmentation fault (core dumped), when I'm trying to look around with my camera Eigen version is 3.2.10 OpenCV version is 2.4.8 ORB_SLAM2 version is the latest Pangolin version is 0.5 I also add #include <unistd.h> in each necessary file as in other answers Cmake version is 3.22.2 Ubuntu version is 14.04.6 LTS ROS Indigo installed What else?.. I am somewhat n00b in Linux, so sorry if the question is obvious Also sorry if there is an answer, I did not find it yet. Thanx

UPD: It crashes even is ORBextractor.nFeatures: 1000, if I very slowly move my camera. Also, I have calibrated it before using.

javadan commented 2 years ago

Also just got it 'TRYING TO INITIALIZE' for mono, though I'm in ros2 foxy, and on a jetson, running a port of this codebase.
My green lines are very sparse, haven't seen any points yet.

I'll reply if I find a solution.

EndlessLoops commented 1 year ago

Did you solve the problem?I have the same problem in ros2 humble.

Also just got it 'TRYING TO INITIALIZE' for mono, though I'm in ros2 foxy, and on a jetson, running a port of this codebase. My green lines are very sparse, haven't seen any points yet.

I'll reply if I find a solution.