I have successfully compiled it, but local tracking failed. Can it save trajectories like ORB-SLAM3？ #9
Description
This is the result of the code I ran in the terminal, the error message Failed to load image at: data/MH04/mav0/cam0/data/1403638141995097088.png. Do you have a solution？
z@z:~/xfeatSLAM$ ./examples/Monocular/mono_euroc ./Vocabulary/ORBvoc.txt ./examples/Monocular/EuRoC.yaml data/MH04 ./examples/Monocular/EuRoC_TimeStamps/MH04.txt
num_seq = 1
Loading images for sequence 0...LOADED!
ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.
Input sensor was set to: Monocular
Loading settings from ./examples/Monocular/EuRoC.yaml
Camera1.k3 optional parameter does not exist...
-Loaded camera 1
-Loaded image info
-Loaded ORB settings
Viewer.imageViewScale optional parameter does not exist...
-Loaded viewer settings
System.LoadAtlasFromFile optional parameter does not exist...
System.SaveAtlasToFile optional parameter does not exist...
-Loaded Atlas settings
System.thFarPoints optional parameter does not exist...
-Loaded misc parameters
SLAM settings:
-Camera 1 parameters (Pinhole): [ 458.65399169921875 457.29598999023438 367.21499633789062 248.375 ]
-Camera 1 distortion parameters: [ -0.28340810537338257 0.073959067463874817 0.00019359000725671649 1.7618711353861727e-05 ]
-Original image size: [ 752 , 480 ]
-Current image size: [ 600 , 350 ]
-Camera 1 parameters after resize: [ 365.94735717773438 333.44500732421875 292.99069213867188 181.10678100585938 ]
-Sequence FPS: 20
-Features per image: 1000
-ORB scale factor: 1.2000000476837158
-ORB number of scales: 8
-Initial FAST threshold: 20
-Min FAST threshold: 7
Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!
Initialization of Atlas from scratch
Creation of new map with id: 0
Creation of new map with last KF id: 0
Seq. Name:
XFeat model weights loaded successfully!
Device: cpu
There are 1 cameras in the atlas
Camera 0 is pinhole
Starting the Viewer
First KF:0; Map init KF:0
New Map created with 172 points
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 = 40
mnInitialFrameId = 0
1 Frames set to lost
First KF:2; Map init KF:0
New Map created with 165 points
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 = 46
mnInitialFrameId = 41
2 Frames set to lost
First KF:4; Map init KF:2
New Map created with 155 points
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 = 57
mnInitialFrameId = 47
3 Frames set to lost
First KF:6; Map init KF:4
New Map created with 164 points
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 = 67
mnInitialFrameId = 58
4 Frames set to lost
First KF:8; Map init KF:6
New Map created with 184 points
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 = 95
mnInitialFrameId = 68
5 Frames set to lost
First KF:10; Map init KF:8
New Map created with 244 points
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 = 126
mnInitialFrameId = 96
6 Frames set to lost
First KF:12; Map init KF:10
New Map created with 439 points
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 = 142
mnInitialFrameId = 127
7 Frames set to lost
First KF:14; Map init KF:12
New Map created with 397 points
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 = 156
mnInitialFrameId = 143
65 Frames set to lost
libpng error: IDAT: CRC error
Failed to load image at: data/MH04/mav0/cam0/data/1403638141995097088.png