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Updated README.md #797

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dc67332
Updated README.md
YumaTheCompanion Aug 9, 2019
64767ec
Added image check for right camera stereo images
YumaTheCompanion Sep 3, 2019
c176780
Fixed a segmentation fault
YumaTheCompanion Sep 16, 2019
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6 changes: 6 additions & 0 deletions Examples/Stereo/stereo_kitti.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -75,6 +75,12 @@ int main(int argc, char **argv)
cerr << endl << "Failed to load image at: "
<< string(vstrImageLeft[ni]) << endl;
return 1;
}
else if(imRight.empty())
{
cerr << endl << "Failed to load image at: "
<< string(vstrImageRight[ni]) << endl;
return 1;
}

#ifdef COMPILEDWITHC11
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2 changes: 1 addition & 1 deletion README.md
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Expand Up @@ -107,7 +107,7 @@ This will create **libORB_SLAM2.so** at *lib* folder and the executables **mono

1. Download the dataset (grayscale images) from http://www.cvlibs.net/datasets/kitti/eval_odometry.php

2. Execute the following command. Change `KITTIX.yaml`by KITTI00-02.yaml, KITTI03.yaml or KITTI04-12.yaml for sequence 0 to 2, 3, and 4 to 12 respectively. Change `PATH_TO_DATASET_FOLDER` to the uncompressed dataset folder. Change `SEQUENCE_NUMBER` to 00, 01, 02,.., 11.
2. Execute the following command. Change `KITTIX.yaml`by `KITTI00-02.yaml`, `KITTI03.yaml` or `KITTI04-12.yaml` for sequence 0 to 2, 3, and 4 to 12 respectively. Change `PATH_TO_DATASET_FOLDER` to the uncompressed dataset folder. Change `SEQUENCE_NUMBER` to 00, 01, 02,.., 11.
```
./Examples/Monocular/mono_kitti Vocabulary/ORBvoc.txt Examples/Monocular/KITTIX.yaml PATH_TO_DATASET_FOLDER/dataset/sequences/SEQUENCE_NUMBER
```
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10 changes: 5 additions & 5 deletions src/Tracking.cc
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Expand Up @@ -539,11 +539,7 @@ void Tracking::StereoInitialization()

cout << "New map created with " << mpMap->MapPointsInMap() << " points" << endl;

mpLocalMapper->InsertKeyFrame(pKFini);

mLastFrame = Frame(mCurrentFrame);
mnLastKeyFrameId=mCurrentFrame.mnId;
mpLastKeyFrame = pKFini;
mpLocalMapper->InsertKeyFrame(pKFini);

mvpLocalKeyFrames.push_back(pKFini);
mvpLocalMapPoints=mpMap->GetAllMapPoints();
Expand All @@ -555,6 +551,10 @@ void Tracking::StereoInitialization()
mpMap->mvpKeyFrameOrigins.push_back(pKFini);

mpMapDrawer->SetCurrentCameraPose(mCurrentFrame.mTcw);

mLastFrame = Frame(mCurrentFrame);
mnLastKeyFrameId=mCurrentFrame.mnId;
mpLastKeyFrame = pKFini;

mState=OK;
}
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