Unable to run with IMU data

[migsdigs]

Hi there,

Were you able to ever run orbslam3 with IMU data for either TUM or EuRoC data?

I receive this error whenever trying to run with IMU data:

2845 Frames set to lost
First KF:696; Map init KF:685
New Map created with 501 points
Point distribution in KeyFrame: left-> 501 --- right-> 0
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 3580
mnInitialFrameId = 3578
2852 Frames set to lost
First KF:699; Map init KF:696
New Map created with 509 points
Point distribution in KeyFrame: left-> 509 --- right-> 0
build optimization graph
start optimization
end optimization
update Keyframes velocities and biases
IMU in Map 0 is initialized
PIOLKF: NOT ENOUGH EDGES
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
FAIL LOCAL-INERTIAL BA!!!!
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 3590
mnInitialFrameId = 3586
2900 Frames set to lost
First KF:710; Map init KF:699
New Map created with 597 points
Point distribution in KeyFrame: left-> 597 --- right-> 0
Fail to track local map!
IMU is not or recently initialized. Reseting active map...
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 3640
mnInitialFrameId = 3637
2925 Frames set to lost
First KF:716; Map init KF:710
New Map created with 395 points
Point distribution in KeyFrame: left-> 395 --- right-> 0
TRACK_REF_KF: Less than 15 matches!!
Fail to track local map!
SYSTEM-> Reseting active map in monocular case
LM: Active map reset recieved
LM: Active map reset, waiting...
LM: Reseting current map in Local Mapping...
LM: End reseting Local Mapping...
LM: Reset free the mutex
LM: Active map reset, Done!!!
mnFirstFrameId = 3666
mnInitialFrameId = 3664
2926 Frames set to lost
First KF:718; Map init KF:716
New Map created with 397 points
Point distribution in KeyFrame: left-> 397 --- right-> 0

Many github threads point the issue to being wrong parameters, specifically the transformation from IMU to camera. However, I am quite certain my parameters match those in given examples on the ORB-SLAM3 repository.

Any help would be appreciated please.

[Namprire]

hi how did you manage to run the container in docker? as soon as I open the notebook the code nor the dataset is present

[migsdigs]

hi how did you manage to run the container in docker? as soon as I open the notebook the code nor the dataset is present

Hi @Namprire

Could you show me how the inside of your container looks please?

[Namprire]

something like this: ```powershell
PS C:\Users\ORBSLAM2_real> $NAME="orb"
PS C:\Users\ORBSLAM2_real> $DATAPATH="/PATH/TO/KITTI/DATE/DRIVE_SYNC_FOLDER/"
PS C:\Users\ORBSLAM2_real> $TAG="latest"
PS C:\Users\ORBSLAM2_real> docker run -it `

--name $NAME --mount type=bind,source="${PWD}",target=/slampy/slampy
-v "${DATAPATH}:/slampy/slampy/Dataset:ro" -p 8888:8888
-rm `
giordanolaminetti/slampy:$TAG /bin/bash

[migsdigs]

something like this: ```powershell PS C:\Users\ORBSLAM2_real> $NAME="orb" PS C:\Users\ORBSLAM2_real> $DATAPATH="/PATH/TO/KITTI/DATE/DRIVE_SYNC_FOLDER/" PS C:\Users\ORBSLAM2_real> $TAG="latest" PS C:\Users\ORBSLAM2_real> docker run -it `

--name $NAME --mount type=bind,source="${PWD}",target=/slampy/slampy
-v "${DATAPATH}:/slampy/slampy/Dataset:ro" -p 8888:8888
-rm `
giordanolaminetti/slampy:$TAG /bin/bash

Hi again.
I was only ever running ORB-SLAM3, but it seems like it is mounting on your PWD and mounting the Dataset directory as a volume. When you run the container are you able to run commands in the console? If it is mounting everything correctly, when you ls it should at the very least show Dataset