UpdateLocalPoints() SearchLocalPoints() MapPoint AddObservation() ComputeDistinctiveDescriptors() UpdateNormalAndDepth() PredictScale() ORBmatcher SearchByProjection() SearchByBoW() Optimizer PoseOptimization() 定位跟踪模块由Tracking::GrabImageStereo()中对Track()函数的调用引出, Track()实现了ORB-SLAM3提...
Hi, I am using monocular version with my own Data, Has someone faced this issue and any ideas on how I can process images before feeding into ORBSLAM to not face this issue! Thanks,
bOK=TrackLocalMap() 将当前帧跟踪局部地图,并将结果反馈到bOK中 判断!bOK 判断跟踪局部地图是否成功 是 跟踪局部地图失败 cout << "Fail to track local map!" << endl 否 判断bOK && !mbVO //判断:跟踪成功且视觉里程计失败 bOK=TrackLocalMap() 判断bOK //判断上述的跟踪是否成功 是 mState =OK //...
I am trying to run the ORB_SLAM3 algorithm on the TUM RGB-D dataset in mono mode. I tested on two sequences: fr2/desk and fr3/long_office_household, which I have no problem with when testing with ORB_SLAM2. I am constantly getting the "Fail to track local map!" message from ORB...
RTABMAP配置 RTABMAP_ROS安装 数据集测试 遇到的问题 需求 使用Kinectv2-RGBD摄像头测试了RTABMAP和ORBSLAM3这两个算法的视觉里程计精度 ORBSLAM3的里程计精度在视觉SLAM中应该算是相当高的算法了,RTABMAP测试直线走会有很多抖动的地方,ORBSLAM测试下来就几乎是一条直线 但ORBSLAM生成的是稀疏点云,应用场景有限,网...
Fail to track local map! IMU is not or recently initialized. Reseting active map... SYSTEM-> Reseting active map in monocular case LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... ...
First KF:21; Map init KF:0 New Map created with 54 points build optimization graph start optimization end optimization update Keyframes velocities and biases IMU in Map 0 is initialized Fail to track local map! IMU is not or recently initialized. Reseting active map... ...
1:函数参数:TrackStereo(constcv::Mat&imLeft,constcv::Mat&imRight,constdouble×tamp,constvector<IMU::Point>&vImuMeas,stringfilename)2:mpTracker->GrabImuData(vImuMeas[i_imu]);mlQueueImuData.push_back(imuMeasurement);2:mpTracker->GrabImageStereo(imLeftToFeed,imRightToFeed,timestamp,filena...
Fail to track local map! Fail to track local map! Relocalized!! Shutdown Saving trajectory to f_dataset-MH01_mono.txt ... There are 1 maps in the atlas Map 0 has 324 KFs End of saving trajectory to f_dataset-MH01_mono.txt ... ...
Hi everyone, I've been trying to implement ORB SLAM3 for some time now with the D435 cameras for their stereo and the T265 for its internal IMU. Unfortunately I am stuck with the following error: Fail to track local map! IMU in Map 0 is ...