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thien94 / orb_slam3_ros

A ROS implementation of ORB_SLAM3
GNU General Public License v3.0
261 stars 81 forks source link

Frames Problem #5

Open Haydar1990 opened 1 year ago

Haydar1990 commented 1 year ago

Hello, First of all thank you for the great work. i have a problem and i hope you can help me. i run realsense d435i with rs_rgbd.launch and i am trying to estimate the speed of it through orb slam so i run this launch file rs_d435i_rgbd_inertial.launch but i am having a problem that the camera and imu frames in rviz always spinning and returninh to the world frame so they are moving little bit and then returning to the world frame and keep spinning. and when the frames return to the fixed frame "world" repeated on the screen this message:

mnFirstFrameId = 3731 mnInitialFrameId = 3729 3373 Frames set to lost not IMU meas Map point vector is empty! First KF:488; Map init KF:477 New Map created with 1206 points Not enough motion for initializing. Reseting... TRACK: Reset map because local mapper set the bad imu flag LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping... LM: Reset free the mutex LM: Active map reset, Done!!!

but i noticed that when i active the localization mode it moves normal. can you please help me to know what i'm doing wrong.

Hamidraei23 commented 1 year ago

I have the exact same issue

Mechazo11 commented 11 months ago

@Haydar1990 ORB-SLAM3 is a complex code. Until very recently I too have been facing something similar. I ended up using GNU Debugger (GDN) to systematically track my code's problem. That tool might help you in this case.

In my case, I have taken this repo and heavily modified the whole system hence I had a different type of exit code