ORB_SLAM2 ROS node is not estimating trajectory (Gazebo Simulation) about orb_slam2 HOT 9 OPEN

have you tried taking off and hovering a little in place in order for ORB Slam to properly initialize? from what i can tell from the video you are flying forward right away which might not be ideal....

from orb_slam2.

Hi @MarcGyongyosi ,

thanks for the answer. I have already hover for a while and move softly around the hovering point but not success in initializing the algorithm.. Maybe it is related to the vocabulary file. I am trying to generate another vocabulary file using some frames from the simulation as an input for the DBow2 library. However, I have to figure out how to generate a seralized *.txt vocabulary file, similar to the one is used by the algorithm..

from orb_slam2.

I've been having similar issues with initialization using ROS. I've been running ORB SLAM 1 on some bagfiles of mine and it works great, initializing within the first two seconds every time and tracking all the way through. But ORB SLAM 2 mostly fails to initialize on the same bagfiles, and usually gets lost quickly on the times it does initialize. Is it possible I haven't converted the settings.yaml correctly?

Here's the parameter file used with ORB SLAM 1 for the bagfile:
floorSettings.txt

And here's the file used with ORB SLAM 2:
floorSettings2.txt
If you'd like me to provide an example bagfile let me know.

from orb_slam2.

i've had the exact same experience - see issue #11

from orb_slam2.

Hi @AHolliday ,

Could you provide the code you use to generate those bagfiles from any set of images? I'd like to generate some bagfiles, in order to try if that is influencing the algorithm to initialize. Thanks.

from orb_slam2.

Hi @alejodosr, I generated the bagfiles directly from a ROS camera node, so I don't have any code to manufacture a bagfile from a set of images. This shouldn't be too hard to do though - the rosbag API pretty easy to use and provides facilities for creating new bagfiles and writing individual messages to them.

from orb_slam2.

@alejodosr check https://github.com/raulmur/BagFromImages

from orb_slam2.

Hi,
I run RGB-D node with ROS, for my kinect2, things goes well, however, for rgbd_dataset_freiburg1_room.bag, things goes wrong.
The algorithm cannot estimate the trajectory as:
https://plus.google.com/photos/photo/117456307544477709329/6307912839097699730?icm=false&authkey=CMOVmP6dsYmaYA

Any suggestion?

from orb_slam2.

@LinHuican check your .yaml file, and set the DepthMapFactor to 1 .

from orb_slam2.