small_bug_in_monocular_initialization

.gitignore

@@ -71,7 +71,7 @@ lib/
 
 cmake_modules/
 cmake-build-debug/
-
+cmake-*
 ExecMean.txt
 SessionInfo.txt
 Results_Euroc.txt

CMakeLists.txt

@@ -172,6 +172,14 @@ add_executable(stereo_euroc
         Examples/Stereo/stereo_euroc.cc)
 target_link_libraries(stereo_euroc ${PROJECT_NAME})
 
+add_executable(stereo_realsense_D455
+        Examples/Stereo/stereo_realsense_D455.cc)
+target_link_libraries(stereo_realsense_D455 ${PROJECT_NAME})
+
+add_executable(stereo_zed2i
+        Examples/Stereo/stereo_zed2i.cc)
+target_link_libraries(stereo_zed2i ${PROJECT_NAME})
+
 add_executable(stereo_tum_vi
         Examples/Stereo/stereo_tum_vi.cc)
 target_link_libraries(stereo_tum_vi ${PROJECT_NAME})
@@ -316,6 +324,7 @@ if(realsense2_FOUND)
     add_executable(stereo_realsense_D435i_old
             Examples_old/Stereo/stereo_realsense_D435i.cc)
     target_link_libraries(stereo_realsense_D435i_old ${PROJECT_NAME})
+
 endif()
 
 #Monocular examples

Examples/Monocular/D455.yaml

@@ -0,0 +1,78 @@
+%YAML:1.0
+
+#--------------------------------------------------------------------------------------------
+# System config
+#--------------------------------------------------------------------------------------------
+
+# When the variables are commented, the system doesn't load a previous session or not store the current one
+
+# If the LoadFile doesn't exist, the system give a message and create a new Atlas from scratch
+#System.LoadAtlasFromFile: "Session_MH01_MH02_MH03_Mono"
+
+# The store file is created from the current session, if a file with the same name exists it is deleted
+#System.SaveAtlasToFile: "Session_MH01_MH02_MH03_Mono"
+
+#--------------------------------------------------------------------------------------------
+# Camera Parameters. Adjust them!
+#--------------------------------------------------------------------------------------------
+File.version: "1.0"
+
+Camera.type: "PinHole"
+
+# Camera calibration and distortion parameters (OpenCV) 
+Camera1.fx: 423.8357849121094
+Camera1.fy: 423.8357849121094
+Camera1.cx: 430.0032653808594
+Camera1.cy: 237.4404296875
+
+Camera1.k1: 0.0
+Camera1.k2: 0.0
+Camera1.p1: 0.0
+Camera1.p2: 0.0
+
+Camera.width: 848
+Camera.height: 480
+
+Camera.newWidth: 848
+Camera.newHeight: 480
+
+# Camera frames per second 
+Camera.fps: 20
+
+# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
+Camera.RGB: 1
+
+#--------------------------------------------------------------------------------------------
+# ORB Parameters
+#--------------------------------------------------------------------------------------------
+
+# ORB Extractor: Number of features per image
+ORBextractor.nFeatures: 2000
+
+# ORB Extractor: Scale factor between levels in the scale pyramid 	
+ORBextractor.scaleFactor: 1.2
+
+# ORB Extractor: Number of levels in the scale pyramid	
+ORBextractor.nLevels: 8
+
+# ORB Extractor: Fast threshold
+# Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
+# Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
+# You can lower these values if your images have low contrast			
+ORBextractor.iniThFAST: 20
+ORBextractor.minThFAST: 7
+
+#--------------------------------------------------------------------------------------------
+# Viewer Parameters
+#---------------------------------------------------------------------------------------------
+Viewer.KeyFrameSize: 0.05
+Viewer.KeyFrameLineWidth: 1.0
+Viewer.GraphLineWidth: 0.9
+Viewer.PointSize: 2.0
+Viewer.CameraSize: 0.08
+Viewer.CameraLineWidth: 3.0
+Viewer.ViewpointX: 0.0
+Viewer.ViewpointY: -0.7
+Viewer.ViewpointZ: -1.8
+Viewer.ViewpointF: 500.0
+

Examples/Monocular/mono_euroc.cc

@@ -80,7 +80,7 @@ int main(int argc, char **argv)
     int fps = 20;
     float dT = 1.f/fps;
     // Create SLAM system. It initializes all system threads and gets ready to process frames.
-    ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, false);
+    ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::MONOCULAR, true);
     float imageScale = SLAM.GetImageScale();
 
     double t_resize = 0.f;