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xdspacelab / openvslam

OpenVSLAM: A Versatile Visual SLAM Framework
https://openvslam.readthedocs.io/
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No map being created #328

Open jagauthier opened 4 years ago

jagauthier commented 4 years ago

Greetings,

Running SLAM through ROS. rosrun openvslam run_slam_custom -v orb_vocab.dbow2 -c TUM_RGBD_mono_1.yaml

Pangolin viewer launches with my camera and a blank Map Viewer. The camera has lots of yellow dots and lines and that's it. My current environment is lighted pretty well. When I turn off the light, and there's a small amount of sunlight a map is created. I don't understand what is happening here.


[2020-05-25 17:56:45.361] [I] loading ORB vocabulary: /home/uav122/orb_vocab/orb_vocab.dbow2
[2020-05-25 17:56:46.252] [I] startup SLAM system
[2020-05-25 17:56:46.252] [I] start mapping module
[2020-05-25 17:56:46.252] [I] start global optimization module
[ Turn light off here]
[2020-05-25 18:07:18.561] [I] initialization succeeded with H
[2020-05-25 18:07:18.590] [I] new map created with 52 points: frame 6707 - frame 6708
ymd-stella commented 4 years ago

I think you should post images or a video to discuss it.

YujiElfahkrany commented 4 years ago

@jagauthier happened with me too, solved by enabling and disabling show_grid and follow camera options in the map viewer and then using the middle button on the mouse in the map viewer to show the map.

hope this helps ;)