Unable to use ORB SLAM on my dataset

asked 2016-03-02 12:14:15 -0600

gligart gravatar image

Hi guys, I'm trying to use ORB SLAM with a prosilica camera, a MANTA G145 IRC PoE 30fps. I succesfully stream the image, but ORB SLAM it is unable to build a map, so rviz doesn't show anything to me. Green lines doesn't swap to green crossed boxes (features). I've calibrated my camera several times with OpenCv, and I got every time more or less same parameters, I really don't know how to make it work. I've tried outside and inside, online and offline in different environment, with no success. My machine is running Ubuntu 14.04 with ROS Indigo.

These are the parameters I use:

  • Camera.fx: 1298.296101
  • Camera.fy: 1300.080862
  • Camera.cx: 688.848765
  • Camera.cy: 485.771913
  • Camera.k1: -0.098296
  • Camera.k2: 0.293082
  • Camera.p1: -0.004291
  • Camera.p2: -0.002058
  • Camera.fps: 30.0
  • Camera.RGB: 1

I left these parameters unchanged:

  • ORBextractor.nFeatures: 1000
  • ORBextractor.scaleFactor: 1.2
  • ORBextractor.nLevels: 8
  • ORBextractor.fastTh: 20
  • ORBextractor.nScoreType: 1
  • UseMotionModel: 1

Image is in grayscale and the resolution of the camera is:

  • 1388 x 1038

Any suggestion?

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Comments

I am having the same issue. Any luck of getting it work?

xlimit gravatar imagexlimit ( 2016-07-17 00:22:15 -0600 )edit