Dataset isn't working on ORBSLAM2 RGBD
Closed this issue · 2 comments
I've tried to process this dataset on ORBSLAM2, it isn't working.
Here is my .yaml file(settings file).
`%YAML:1.0
#--------------------------------------------------------------------------------------------
Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
Camera calibration and distortion parameters (OpenCV)
Camera.fx: 381.1208801269531
Camera.fy: 380.8488464355469
Camera.cx: 315.84698486328125
Camera.cy: 238.04495239257812
Camera.k1: 0.0
Camera.k2: 0.0
Camera.p1: 0.0
Camera.p2: 0.0
Camera.width: 640
Camera.height: 480
Camera frames per second
Camera.fps: 30.0
IR projector baseline times fx (aprox.)
Camera.bf: 40.0
Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 0
Close/Far threshold. Baseline times.
ThDepth: 40.0
Deptmap values factor
DepthMapFactor: 100
#--------------------------------------------------------------------------------------------
ORB Parameters
#--------------------------------------------------------------------------------------------
ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1000
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: 0.1
Viewer.KeyFrameLineWidth: 1
Viewer.GraphLineWidth: 1
Viewer.PointSize: 2
Viewer.CameraSize: 0.15
Viewer.CameraLineWidth: 2
Viewer.ViewpointX: 0
Viewer.ViewpointY: -10
Viewer.ViewpointZ: -0.1
Viewer.ViewpointF: 2000
`
@bharadwajsirigadi what is the error you are getting? I recently got ORBEC ASTRA rgbd stream to work with ORB SLAM3 RGBD. It may be beneficial if you switched to that repo.
@Mechazo11 i solved it, as it was related to image encoding, ORBSLAM2 does require 32FC1.