ORB_SLAM3中KITTI DATASET双目无法运行问题解决方法

1. 执行stereo_kitti错误

./stereo_kitti \
/home/jinln/Jinln/ORB_SLAM3/Vocabulary/ORBvoc.txt \
/home/jinln/Jinln/ORB_SLAM3/Examples/Stereo/KITTI03.yaml \
/home/jinln/Jinln/DATASET/KITTI/03

报错:

-------
Start processing sequence ...
Images in the sequence: 801

First KF:0; Map init KF:0
Segmentation fault (core dumped)

2.解决办法

修改"KITTI00.yaml"文件像"euroc.yaml"文件一样:
这是我修改的KITTI03.yaml:

%YAML:1.0

#--------------------------------------------------------------------------------------------
# Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------

# ===> NOTICE: Add camera model here <===
Camera.type: "PinHole"

# Camera calibration and distortion parameters (OpenCV) 
Camera.fx: 721.5377
Camera.fy: 721.5377
Camera.cx: 609.5593
Camera.cy: 172.854

Camera.k1: 0.0
Camera.k2: 0.0
Camera.p1: 0.0
Camera.p2: 0.0

Camera.bFishEye: 0

Camera.width: 1241
Camera.height: 376

# Camera frames per second 
Camera.fps: 10.0

# stereo baseline times fx
Camera.bf: 387.5744

# Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1

# Close/Far threshold. Baseline times.
ThDepth: 40

# ============================================================

# ===> NOTICE: Add camera parameters here <===
LEFT.height: 1241
LEFT.width: 376
LEFT.D: !!opencv-matrix
   rows: 1
   cols: 5
   dt: d
   data: [0.0, 0.0, 0.0, 0.0, 0.0]
LEFT.K: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [721.5377, 0.0, 609.5593, 0.0, 721.5377, 172.854, 0.0, 0.0, 1.0]
LEFT.R:  !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
LEFT.P:  !!opencv-matrix
   rows: 3
   cols: 4
   dt: d
   data: [7.215377000000e+02, 0.000000000000e+00, 6.095593000000e+02, 0.000000000000e+00, 0.000000000000e+00, 7.215377000000e+02, 1.728547000000e+02, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00, 0.000000000000e+00]

RIGHT.height: 1241
RIGHT.width: 376
RIGHT.D: !!opencv-matrix
   rows: 1
   cols: 5
   dt: d
   data: [0.0, 0.0, 0.0, 0.0, 0.0]
RIGHT.K: !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [721.5377, 0.0, 609.5593, 0.0, 721.5377, 172.854, 0.0, 0.0, 1.0]
RIGHT.R:  !!opencv-matrix
   rows: 3
   cols: 3
   dt: d
   data: [0.9999633526194376, -0.003625811871560086, 0.007755443660172947, 0.003680398547259526, 0.9999684752771629, -0.007035845251224894, -0.007729688520722713, 0.007064130529506649, 0.999945173484644]
RIGHT.P:  !!opencv-matrix
   rows: 3
   cols: 4
   dt: d
   data: [7.215377000000e+02, 0.000000000000e+00, 6.095593000000e+02, 0.000000000000e+00, 0.000000000000e+00, 7.215377000000e+02, 1.728547000000e+02, 0.000000000000e+00, 0.000000000000e+00, 0.000000000000e+00, 1.000000000000e+00, 0.000000000000e+00]

#--------------------------------------------------------------------------------------------
# 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: 0.6
Viewer.KeyFrameLineWidth: 2
Viewer.GraphLineWidth: 1
Viewer.PointSize: 2
Viewer.CameraSize: 0.7
Viewer.CameraLineWidth: 3
Viewer.ViewpointX: 0
Viewer.ViewpointY: -100
Viewer.ViewpointZ: -0.1
Viewer.ViewpointF: 2000