OpenCV

[RoZhong]

Because I am afraid of version problems, I am using ORB_slam3-v0.3. There is no problem in running ORB3 alone, but after adding ros_wrapper, there will be an OpenCV error when the optimization ends. I am using OpenCV3.4.15. The error is as follows:

IMU frequency: 200 Hz IMU gyro noise: 0.00017 rad/s/sqrt(Hz) IMU gyro walk: 1.9393e-05 rad/s^2/sqrt(Hz) IMU accelerometer noise: 0.002 m/s^2/sqrt(Hz) IMU accelerometer walk: 0.003 m/s^3/sqrt(Hz) First KF:0; Map init KF:0 New Map created with 473 points Point distribution in KeyFrame: left->473 --- right->0 [ INFO] [1646701879.260294406]: Finished waiting for tf, waited 13.002301 seconds build optimization graph start optimization end optimization update Keyframes velocities and biases OpenCV Error: Assertion failed (isIdentity(expr)) in InputArray, file /home/zyf/libraries/opencv-3.4.15/modules/core/src/matrixexpressions.cpp, line 1843 terminate called after throwing an instance of 'cv::Exception' what(): /home/zyf/libraries/opencv-3.4.15/modules/core/src/matrix_expressions.cpp:1843: error: (-215) isIdentity(expr) in function _InputArray

[orb_slam3_monoinertial-2] process has died [pid 8090, exit code -6, cmd /home/zyf/catkin_ws/devel/lib/orb_slam3_ros_wrapper/orb_slam3_ros_wrapper_mono_inertial /camera/image_raw:=/cam0/image_raw /imu:=/imu0 __name: =orb_slam3_mono_inertial _log:=/home/zyf/.ros/log/a0e09940-9e7c-11ec-9a49-ac2b6e3d0ecd/orb_slam3_monoinertial-2.log]. log file: /home/zyf/.ros/log/a0e09940-9e7c-11ec-9a49-ac2b6e3d0ecd/orb_slam3_mono_inertial-2*.log

[nutupodebil]

try OpenCV 4.4 or 4.2

[thien94]

Hi @RoZhong , sorry for the late reply. FYI, I have updated the repo to match V1.0 of ORB-SLAM3. If you are still interested, you can test the latest version and let me know if the issue persists.

[thien94]

Feel free to reopen this issue if you still have any issues.