boomfan / orb_slam2 Goto Github PK

mpLocalMapper is not finished.
mpLocalMapper is not finished.
mpLocalMapper is not finished.
mpLocalMapper is not finished.
mpLocalMapper is not finished.
mpLocalMapper is not finished.
System shut down.

median tracking time: 0.0227913
mean tracking time: 0.0234749

Saving keyframe trajectory to KeyFrameTrajectory.txt ...

trajectory saved!
QObject::~QObject: Timers cannot be stopped from another thread

thank you,after I run the datest I can save the map, but how to save map when I run the real time using my own camera?The program is running all the time. How do I get it to appear and let me choose to save the map?

when compiling the code, i met an error in File include/KeyFrame.h
and it said that expected ‘)’ before ‘&’ token in
KeyFrame(InitKeyFrame &initkf, Map* pMap, KeyFrameDatabase* pKFDB,vector< MapPoint*>& vpMapPoints);

Hi BoomFan:
Thank you for sharing your improved code, when I saved the map with your code, and I could not relocate the map when I reloaded it, either in monocular or binocular. I can't solve this problem in the function of Relocalization(): cv::Mat Tcw = pSolver->iterate(5,bNoMore,vbInliers,nInliers); The Tcw is always empty. And in the file PnPsolver.cc, the function void PnPsolver::CheckInliers(), error2 is so big that mnInliersi always zero. Could you help me?

ORB Extractor Parameters:

• Number of Features: 1200
• Scale Levels: 8
• Scale Factor: 1.2
• Initial Fast Threshold: 20
• Minimum Fast Threshold: 7
  Map.cc :: Map reading from:/home/admin1234/orb_ws/src/MapPointandKeyFrame.bin
  Map.cc :: The number of MapPoints:27975
  Map.cc :: The number of KeyFrames:4499406999504721258
  terminate called after throwing an instance of 'std::bad_alloc'
  what(): std::bad_alloc
  已放弃