ORB_SLAM2 Feature points detection on gazebo failed

[hustchenli]

I'm trying to run ORB_SLAM2 on gazebo. I can see the pictures that taken by camera. But the detection of feature points failed. I have changed the ORBextractor.minThFAST to a lower value. But it still doesn't work. Here is the definition of camera:

    <!-- camera -->
    <gazebo reference="camera_link">  
      <sensor type="depth" name="camera">
        <plugin name="kinect_camera_controller" filename="libgazebo_ros_openni_kinect.so">
          <cameraName>camera</cameraName>
          <alwaysOn>true</alwaysOn>
          <updateRate>10</updateRate>
          <imageTopicName>rgb/image_raw</imageTopicName>
          <depthImageTopicName>depth/image_raw</depthImageTopicName>
          <pointCloudTopicName>depth/points</pointCloudTopicName>
          <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
          <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
          <frameName>camera_link_optical</frameName>
          <baseline>0.1</baseline>
          <distortion_k1>0.0</distortion_k1>
          <distortion_k2>0.0</distortion_k2>
          <distortion_k3>0.0</distortion_k3>
          <distortion_t1>0.0</distortion_t1>
          <distortion_t2>0.0</distortion_t2>
          <pointCloudCutoff>0.4</pointCloudCutoff>
        </plugin>
      </sensor>
    </gazebo>

yaml setting file:

%YAML:1.0

#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
Camera.type: "PinHole"
# Camera calibration and distortion parameters (OpenCV) 
Camera.fx: 277.19135641132203
Camera.fy: 277.19135641132203
Camera.cx: 160.5
Camera.cy: 120.5

Camera.k1: 0
Camera.k2: 0
Camera.p1: 0
Camera.p2: 0

Camera.width: 320 
Camera.height: 240 

# Camera frames per second 
Camera.fps: 30.0 #30.0

# IR projector baseline times fx (aprox.)
Camera.bf: 27.719135641132203

# 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: 50.0

# Deptmap values factor 
DepthMapFactor: 1 #1000.0

#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------

# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1000 #1000

# ORB Extractor: Scale factor between levels in the scale pyramid   
ORBextractor.scaleFactor: 1.2 #1.2

# ORB Extractor: Number of levels in the scale pyramid  
ORBextractor.nLevels: 4 #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 #20
ORBextractor.minThFAST: 3 #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

Anybody any idea? Thanks.

[Ador2]

there's no texture in your scene.. add more details in the world of gazebo. there are some ready to use worlds like baylands.world