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提供的各种定位接口的封装, 本文就其中几个...
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...
23 Frames set to lost First KF:13; Map init KF:0 New Map created with 89 points Point distribution in KeyFrame: left-> 89 --- right-> 0 build optimization graph start optimization end optimization IMU in Map 0 is initialized Fail to track local map!
Fail to track local map! IMU is not or recently initialized. Reseting active map... LM: Active map reset recieved LM: Active map reset, waiting... LM: Reseting current map in Local Mapping... LM: End reseting Local Mapping...
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...
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 ...
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 ... Saving keyframe trajectory to kf_dataset-MH01_mono.txt ... ...