Input sensor was set to: Monocular-Inertial
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:
Camera Parameters:
- Camera: Pinhole
- Image scale: 1
- fx: 440.81634521484375
- fy: 442.7576904296875
- cx: 311.21322631835938
- cy: 279.22430419921875
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- k3: 0
- fps: 30
- color order: BGR (ignored if grayscale)
ORB Extractor Parameters:
- Number of Features: 2000
- Scale Levels: 8
- Scale Factor: 1.2000000476837158
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7
Left camera to Imu Transform (Tbc):
[0.99970013, 0.0017065899, -0.02442741, -0.056822371;
-0.00198779, 0.99993199, -0.01149188, 0.029160639;
0.024406141, 0.01153699, 0.99963558, -0.033112619;
0, 0, 0, 1]
IMU frequency: 200 Hz
IMU gyro noise: 0.004999999888241291 rad/s/sqrt(Hz)
IMU gyro walk: 3.9999999899009708e-06 rad/s^2/sqrt(Hz)
IMU accelerometer noise: 0.0099999997764825821 m/s^2/sqrt(Hz)
IMU accelerometer walk: 0.00019999999494757503 m/s^3/sqrt(Hz)
There are 1 cameras in the atlas
Camera 0 is pinhole
terminate called after throwing an instance of 'std::system_error'
what(): Operation not permitted
Aborted
I always encounter this type of error when I try to use ORB-SLAM3. I am using a Pi camera and ICM 20948 and Raspberry pi 4 operating system. My orb slam monocular mode is functioning, but inertial monocular mode is not operational. I already did kalibr to extract the parameters of camera imu extrinsics.
Input sensor was set to: Monocular-Inertial
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:
Camera Parameters:
ORB Extractor Parameters:
Left camera to Imu Transform (Tbc):
[0.99970013, 0.0017065899, -0.02442741, -0.056822371;
-0.00198779, 0.99993199, -0.01149188, 0.029160639;
0.024406141, 0.01153699, 0.99963558, -0.033112619;
0, 0, 0, 1]
IMU frequency: 200 Hz
IMU gyro noise: 0.004999999888241291 rad/s/sqrt(Hz)
IMU gyro walk: 3.9999999899009708e-06 rad/s^2/sqrt(Hz)
IMU accelerometer noise: 0.0099999997764825821 m/s^2/sqrt(Hz)
IMU accelerometer walk: 0.00019999999494757503 m/s^3/sqrt(Hz)
There are 1 cameras in the atlas
Camera 0 is pinhole
terminate called after throwing an instance of 'std::system_error'
what(): Operation not permitted
Aborted
I always encounter this type of error when I try to use ORB-SLAM3. I am using a Pi camera and ICM 20948 and Raspberry pi 4 operating system. My orb slam monocular mode is functioning, but inertial monocular mode is not operational. I already did kalibr to extract the parameters of camera imu extrinsics.