No visualizer pops up when running the demo, is this supposed to be like that?
Closed this issue · 6 comments
No visualizer pops up when running the demo, is this supposed to be like that? But the SLAM procedure is finished. Test on Nvidia Jetson Xavier Dev Kit.
Hi, if you are using ROS demo then yes, the Viewer is disabled by default. Here's the full command to launch this node with Viewer enabled:
roslaunch /path/to/ORB_SLAM2_CUDA/Examples/ROS/ORB_SLAM2_CUDA/launch/ros_mono.launch bUseViewer:=true
@hoangthien94 Thank you for your reply. I was running the TUM1 dataset, no viewer, but the rest is totally fine.
@hoangthien94 Here is all I get from the terminal, it seems like the viewer was disabled or the Pangolin doesn't work. I have switched to the old version of Pangolin and also changed the code, I mean I tried many related solutions but still not working.
$ ./build/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml Data/rgbd_dataset_freiburg1_desk
ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, 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: Monocular
Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!
Camera Parameters:
- fx: 517.306
- fy: 516.469
- cx: 318.643
- cy: 255.314
- k1: 0.262383
- k2: -0.953104
- k3: 1.16331
- p1: -0.005358
- p2: 0.002628
- fps: 30
- color order: RGB (ignored if grayscale)
ORB Extractor Parameters:
- Number of Features: 1000
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7
Start processing sequence ...
Images in the sequence: 613
New Map created with 103 points
median tracking time: 0.0275838
mean tracking time: 0.0304826
Saving keyframe trajectory to KeyFrameTrajectory.txt ...
trajectory saved!
Hi @anakin0620, sorry for the late reply.
This is actually a bug in the non-ROS code that I did not notice. I have fixed the bug, you can pull the latest code and try the command with one more argument at the end:
$ ./build/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM1.yaml Data/rgbd_dataset_freiburg1_desk true
The true argument corresponds to bUseViewer, which would enable/disable Viewer, same as the ROS counterpart.
Let me know if it works for you.
Thank you @hoangthien94, I will test it later and let you know if it’s working.
The bug has been fixed, thanks @hoangthien94