ORB_SLAM3中KITTI DATASET双目无法运行问题解决方法
程序员文章站
2022-03-16 21:35:11
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orbslam3 kitti
1. 执行stereo_kitti错误
./stereo_kitti \
/home/jinln/Jinln/ORB_SLAM3/Vocabulary/ORBvoc.txt \
/home/jinln/Jinln/ORB_SLAM3/Examples/Stereo/KITTI03.yaml \
/home/jinln/Jinln/DATASET/KITTI/03
报错:
-------
Start processing sequence ...
Images in the sequence: 801
First KF:0; Map init KF:0
Segmentation fault (core dumped)
2.解决办法
修改"KITTI00.yaml"文件像"euroc.yaml"文件一样:
这是我修改的KITTI03.yaml:
%YAML:1.0
#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
# ===> NOTICE: Add camera model here <===
Camera.type: "PinHole"
# Camera calibration and distortion parameters (OpenCV)
Camera.fx: 721.5377
Camera.fy: 721.5377
Camera.cx: 609.5593
Camera.cy: 172.854
Camera.k1: 0.0
Camera.k2: 0.0
Camera.p1: 0.0
Camera.p2: 0.0
Camera.bFishEye: 0
Camera.width: 1241
Camera.height: 376
# Camera frames per second
Camera.fps: 10.0
# stereo baseline times fx
Camera.bf: 387.5744
# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1
# Close/Far threshold. Baseline times.
ThDepth: 40
# ============================================================
# ===> NOTICE: Add camera parameters here <===
LEFT.height: 1241
LEFT.width: 376
LEFT.D: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [0.0, 0.0, 0.0, 0.0, 0.0]
LEFT.K: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [721.5377, 0.0, 609.5593, 0.0, 721.5377, 172.854, 0.0, 0.0, 1.0]
LEFT.R: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
LEFT.P: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [7.215377000000e+02, 0.000000000000e+00, 6.095593000000e+02, 0.000000000000e+00, 0.000000000000e+00, 7.215377000000e+02, 1.728547000000e+02, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00, 0.000000000000e+00]
RIGHT.height: 1241
RIGHT.width: 376
RIGHT.D: !!opencv-matrix
rows: 1
cols: 5
dt: d
data: [0.0, 0.0, 0.0, 0.0, 0.0]
RIGHT.K: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [721.5377, 0.0, 609.5593, 0.0, 721.5377, 172.854, 0.0, 0.0, 1.0]
RIGHT.R: !!opencv-matrix
rows: 3
cols: 3
dt: d
data: [0.9999633526194376, -0.003625811871560086, 0.007755443660172947, 0.003680398547259526, 0.9999684752771629, -0.007035845251224894, -0.007729688520722713, 0.007064130529506649, 0.999945173484644]
RIGHT.P: !!opencv-matrix
rows: 3
cols: 4
dt: d
data: [7.215377000000e+02, 0.000000000000e+00, 6.095593000000e+02, 0.000000000000e+00, 0.000000000000e+00, 7.215377000000e+02, 1.728547000000e+02, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00, 0.000000000000e+00]
#--------------------------------------------------------------------------------------------
# ORB Parameters
#--------------------------------------------------------------------------------------------
# ORB Extractor: Number of features per image
ORBextractor.nFeatures: 2000
# ORB Extractor: Scale factor between levels in the scale pyramid
ORBextractor.scaleFactor: 1.2
# ORB Extractor: Number of levels in the scale pyramid
ORBextractor.nLevels: 8
# ORB Extractor: Fast threshold
# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
# You can lower these values if your images have low contrast
ORBextractor.iniThFAST: 20
ORBextractor.minThFAST: 7
#--------------------------------------------------------------------------------------------
# Viewer Parameters
#--------------------------------------------------------------------------------------------
Viewer.KeyFrameSize: 0.6
Viewer.KeyFrameLineWidth: 2
Viewer.GraphLineWidth: 1
Viewer.PointSize: 2
Viewer.CameraSize: 0.7
Viewer.CameraLineWidth: 3
Viewer.ViewpointX: 0
Viewer.ViewpointY: -100
Viewer.ViewpointZ: -0.1
Viewer.ViewpointF: 2000