Sean O'Rourke
Sean O'Rourke
The Frame member variable N gets set set to mvKeys.size() when the Frame is first constructed, and it's never changed again. Maybe try updating this value when you reassign mvKeys?
TrackRGBD() returns a Sophus::SE3f object, not a cv::Mat.
What are the messages being output to the console when it resets?
If you only want to translate the output pose returned by TrackMonocular(), you could just replace the return statement with your code: ``` Eigen::Vector3f translationVector(0.0, 0.0, 210.0); // Adjust the...
I believe the segfault is being caused by the map being reset in CreateMapMonocular() by: ``` if (medianDepth < 0 || pKFcur->TrackedMapPoints(1) < 50) { Verbose::PrintMess("Wrong initialization, reseting...", Verbose::VERBOSITY_QUIET); RequestResetActiveMap();...
Monocular SLAM is the mode for using single camera. If you want to use a second camera, you need to use Stereo SLAM.