Monocular Vslam
I am unable to get vslam_system 's run_mono to work on the 3VD & Versailles Rond datasets. It says "Returning a small amount of good points: 0, minGoodPts = 30".
Also after running SBA the error is of the order 10^3.
"Running SFM
Final error: 2074.372325"
What could be going wrong? Has anyone managed to run "run_mono" on any published dataset?
Sorry, I did not post additional detail last time.
I am running a Ubuntu 10.10 with ROS diamondback. I installed the latest stable version of vslam stack and tried to run the monocular pipeline.
The previous post was, however, from a fedora 14 system and used run_mono executable provided with the ros package vslam_stack.
This time, I have compiled a small snippet of code that adds frames to an instance of VslamSystemMono using the addFrame function specified in the api. I initially encountered the same error as mentioned link:here
I corrected this problem with the same fix provided yesterday by link.
The monocular pipeline is however unable to find good matches. The number of inliers is ~0-4 and this is less than the minimum number of inliers(30). Also the error after running SBA is very high (~1000's).
I used camera parameters - 1.2 1.2 0 0 1
Posted here is the output corresponding to two calls to "addFrame" function of VslamSystemMono class.
[ INFO] [1314008351.193699104]: Added frame to Mono Vslam system called PoseEstimator2d::estimate for frames 1 and 2 Number of points: 92, number of matches: 100 extractPnPData: frame1.pts.size() = 92 extractPnPData: good points 0 Running SFM Final error: 33044.761933 Dumping SFM returned r 3.128635 -0.279981 -0.019429 Dumping SFM return T 267.161316 3770.465820 9.712806 The number of epipolar inliers: 53 53 points before filtering 35 points left after filtering sba got 35 points Node projection matrix 1.2 0 0 -0 0 1.2 0 -0 0 0 1 -0 Node projection matrix 1.18084 -0.213058 -0.0148276 320.594 -0.213064 -1.18093 0.000851121 4524.56 -0.012286 0.00149597 -0.999923 9.71281 Added 35 points, 35 tracks sba.tracks.size = 35 costProj done sba.tracks.size = 35 costProj done Errors after sba initialization: 168.142901 896.277610 [SBAsys] Cameras: 2 Points: 35 Projections: 70 Hessian elements: 105 [SBAsys] Average 2 projections per track and 35 projections per camera [SBAsys] Checking camera order in projections...ok [SBAsys] Number of invalid projections: 0 [SBAsys] Number of null tracks: 0 Number of single tracks: 0 Number of double tracks: 35 [SBAsys] Number of disconnected cameras: 0 [SBAsys] Number of cameras with <5 projs: 0 [SBAsys] Number of camera connections: 0 which is 0 connections per camera and 50 percent matrix fill [SBAsys] Min connection points: 1000000 Max connection points: 0 Average connection points: -nan [SBAsys] Total connection projections: 0 [SBAsys] Connections with less than 5 points: 0 10 pts: 0 20 pts: 0 50 pts: 0 sba pointer: 0xbfc1d35c Removed 22 projections > 2 pixels ...