electech6/orb_slam3_detailed_comments

Detailed comments for ORB-SLAM3

orb_slam3_detailed_comments's Issues

如何使用D435相机跑这个代码

六哥 求指教！万分搞谢！

为什么运行ros的RGBD，不显示点云图

使用稠密建图，运行过程中出现Segmentation fault (core dumped)

ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.

Input sensor was set to: RGB-D

Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!

Initialization of Atlas from scratch
Creation of new map with id: 0
Creation of new map with last KF id: 0
Seq. Name:

Camera Parameters:

• Camera: Pinhole
• Image scale: 1
• fx: 630.34
• fy: 637.948
• cx: 629.636
• cy: 371.722
• k1: -0.0575601
• k2: 0.0707711
• p1: -0.000114688
• p2: 0.000709221
• fps: 30
• color order: RGB (ignored if grayscale)

Depth Threshold (Close/Far Points): 0.729924

ORB Extractor Parameters:

• Number of Features: 1250
• Scale Levels: 8
• Scale Factor: 1.2
• Initial Fast Threshold: 20
• Minimum Fast Threshold: 7
  There are 1 cameras in the atlas
  Camera 0 is pinhole
  0 0 0

(process:13998): Gtk-WARNING **: 10:51:24.032: Locale not supported by C library.
Using the fallback 'C' locale.
Starting the Viewer
First KF:0; Map init KF:0
New Map created with 1236 points
Segmentation fault (core dumped)

Optimizer.cc中的函数OptimizeEssentialGraph4DoF中注释说“同样有严重BUG”,请问是什么bug?

如题。

提高单目imu初始化速度

    您好，我将其移植到iOS时，系统难以初始化成功（移动过快视觉丢失，移动太慢imu激励不足）
    应该如何优化提高单目-imu的初始化速度呢，牺牲一定的精度使系统更加鲁棒。

致命错误

ORB_SLAM3_detailed_comments/src/Tracking.cc

Line 4223 in 3fd2fcc

vpMLPnPsolvers[i] = pSolver;

少了一句话 nCandidates++;

IMU initialization at high velocity

When i ran the ORBSLAM3 in a city-center scenario, it occured the following problems:

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...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 1
mnInitialFrameId = 4913
0 Frames set to lost
not IMU meas
First KF:1269; Map init KF:1268
New Map created with 112 points

I guess the system crashed and need to reset, but at that moment the car ran at a high velocity so the IMU had not enough acceleration that it could not be successfully initialized. Were there any solutions to solve this problem?

Failed to run monocular-Inertial

Has anyone encountered this problem? How to solve it?

Load File
Initialization of Atlas from file: Session_MH01_MH02_MH03_Stereo60_Pseudo
Starting to read the save binary file
Load file not found
Error to load the file, please try with other session file or vocabulary file

为什么在configure的时候一直会显示opencv > 3.0 not found

为什么在configure的时候一直会显示opencv > 3.0 not found

为什么多了Initializer.cc文件

您好，非常感谢您写的关于ORB-SLAM3的注释，给了我非常多的帮助。

我在对比您的版本和官方版本时发现您的版本比官方版本多了initializer.cc以及对应的头文件，我大概了解这个文件的作用，但是令我奇怪的是，即使没有这个文件，官方版本也能正常运行并成功复现，所以我想咨询以下这个文件是否是必要的，还是只是版本迭代遗留下来的产物？

期待您的回复，谢谢！

Could you please introduce how to run a demo briefly?

Thanks for your great work! I have run ./build.sh and ./build_ros.sh succesfully, but I don't quite know about how to run the system with my camera (I know how to launch the camera node). Could dou please add that part please? Thanks very much.

run build_ros.sh error

i run .build.sh successfully but when i run build_ros.sh the following errors occurs
CMake Deprecation Warning at /opt/ros/melodic/share/ros/core/rosbuild/rosbuild.cmake:7 (cmake_policy):
The OLD behavior for policy CMP0011 will be removed from a future version
of CMake.

The cmake-policies(7) manual explains that the OLD behaviors of all
policies are deprecated and that a policy should be set to OLD only under
specific short-term circumstances. Projects should be ported to the NEW
behavior and not rely on setting a policy to OLD.
Call Stack (most recent call first):
CMakeLists.txt:2 (include)

CMake Deprecation Warning at /opt/ros/melodic/share/ros/core/rosbuild/rosbuild.cmake:16 (cmake_policy):
The OLD behavior for policy CMP0002 will be removed from a future version
of CMake.

The cmake-policies(7) manual explains that the OLD behaviors of all
policies are deprecated and that a policy should be set to OLD only under
specific short-term circumstances. Projects should be ported to the NEW
behavior and not rely on setting a policy to OLD.
Call Stack (most recent call first):
CMakeLists.txt:2 (include)

CMake Deprecation Warning at /opt/ros/melodic/share/ros/core/rosbuild/rosbuild.cmake:18 (cmake_policy):
The OLD behavior for policy CMP0003 will be removed from a future version
of CMake.

The cmake-policies(7) manual explains that the OLD behaviors of all
policies are deprecated and that a policy should be set to OLD only under
specific short-term circumstances. Projects should be ported to the NEW
behavior and not rely on setting a policy to OLD.
Call Stack (most recent call first):
CMakeLists.txt:2 (include)

CMake Deprecation Warning at /opt/ros/melodic/share/ros/core/rosbuild/rosbuild.cmake:20 (cmake_policy):
The OLD behavior for policy CMP0005 will be removed from a future version
of CMake.

The cmake-policies(7) manual explains that the OLD behaviors of all
policies are deprecated and that a policy should be set to OLD only under
specific short-term circumstances. Projects should be ported to the NEW
behavior and not rely on setting a policy to OLD.
Call Stack (most recent call first):
CMakeLists.txt:2 (include)

CMake Deprecation Warning at /opt/ros/melodic/share/ros/core/rosbuild/rosbuild.cmake:23 (cmake_policy):
The OLD behavior for policy CMP0011 will be removed from a future version
of CMake.

The cmake-policies(7) manual explains that the OLD behaviors of all
policies are deprecated and that a policy should be set to OLD only under
specific short-term circumstances. Projects should be ported to the NEW
behavior and not rely on setting a policy to OLD.
Call Stack (most recent call first):
CMakeLists.txt:2 (include)

-- Found PythonInterp: /usr/bin/python (found version "2.7.17")
[rosbuild] Building package ORB_SLAM3
[rosbuild] Error from directory check: /opt/ros/melodic/share/ros/core/rosbuild/bin/check_same_directories.py /home/tx2/catkin_ws/src/ORB_SLAM3_detailed_comments/Examples/ROS/ORB_SLAM3
1
Traceback (most recent call last):
File "/opt/ros/melodic/share/ros/core/rosbuild/bin/check_same_directories.py", line 46, in
raise Exception
Exception
CMake Error at /opt/ros/melodic/share/ros/core/rosbuild/private.cmake:99 (message):
[rosbuild] rospack found package "ORB_SLAM3" at "", but the current
directory is
"/home/tx2/catkin_ws/src/ORB_SLAM3_detailed_comments/Examples/ROS/ORB_SLAM3".
You should double-check your ROS_PACKAGE_PATH to ensure that packages are
found in the correct precedence order.
Call Stack (most recent call first):
/opt/ros/melodic/share/ros/core/rosbuild/public.cmake:177 (_rosbuild_check_package_location)
CMakeLists.txt:4 (rosbuild_init)

-- Configuring incomplete, errors occurred!
See also "/home/tx2/catkin_ws/src/ORB_SLAM3_detailed_comments/Examples/ROS/ORB_SLAM3/build/CMakeFiles/CMakeOutput.log".
make: *** No targets specified and no makefile found. Stop.
Can anyone help me solve this problem?

稠密建图回环检测

请问稠密建图中有点云的回环检测吗

Eigen问题

/usr/local/include/eigen3/Eigen/SparseCholesky:34:2:
error: #error The SparseCholesky module has nothing to offer in MPL2 only mode

这是什么原因，我编译ORB-SLAM2 都没有报错，一样的Eigen 版本

注释里面的经典forster论文指的是哪篇？

ORB_SLAM3_detailed_comments/src/ImuTypes.cc

Line 403 in 8459ff6

// Step 3.更新协方差，frost经典预积分论文的第63个公式，推导了噪声（ηa, ηg）对dR dV dP 的影响