{"issue":{"milestone":null,"user":{"id":1252156,"login":"zizipoil","url":"https://api.github.com/users/zizipoil","avatar_url":"https://secure.gravatar.com/avatar/ace9a8f3f6fe78ee9ead22c17ec0486c?d=https://a248.e.akamai.net/assets.github.com%2Fimages%2Fgravatars%2Fgravatar-140.png","gravatar_id":"ace9a8f3f6fe78ee9ead22c17ec0486c"},"created_at":"2011-12-16T14:07:04Z","title":"stereo_slam with a live Kinect: no display for a long time + crash in low-feature cases","updated_at":"2011-12-16T14:26:40Z","labels":[{"name":"ToDo","url":"https://api.github.com/repos/strasdat/ScaViSLAM/labels/ToDo","color":"0b02e1"}],"state":"open","id":2579983,"html_url":"https://github.com/strasdat/ScaViSLAM/issues/15","closed_at":null,"pull_request":{"patch_url":null,"html_url":null,"diff_url":null},"body":"with ScaViSLAM compiled using with PCL support, with no CUDA support: \r\n=\r\n\r\n* running ./stereo_slam ../data/rgbd-Live.cfg in svs_build_with_pcl displays a frame with no content.\r\nThe command line shows some activity (seems to be frame numbers) but the display window gets refresh around the 1000th captured frame.\r\n\r\n* the program crashes on an assertion when the environment has very few features:\r\n<pre>\r\nstereo_slam: /home/vca/SOFT/ScaViSLAM/scavislam/slam_graph.cpp:165: void ScaViSLAM::SlamGraph<Pose, Camera, Proj, ObsDim>::addKeyframe(int, int, const Pose&, const std::list<std::tr1::shared_ptr<ScaViSLAM::NewTwoViewPoint<ObsDim> > >&, const std::list<std::tr1::shared_ptr<ScaViSLAM::TrackPoint<ObsDim> > >&) [with Pose = Sophus::SE3, Camera = ScaViSLAM::StereoCamera, Proj = ScaViSLAM::SE3XYZ_STEREO, int ObsDim = 3]: Assertion `neighborid_to_strength.find(oldkey_id)!=neighborid_to_strength.end()' failed.\r\nAborted \r\n</pre>\r\n","number":15,"url":"https://api.github.com/repos/strasdat/ScaViSLAM/issues/15","comments":1,"assignee":null},"comment":{"user":{"id":584721,"login":"strasdat","url":"https://api.github.com/users/strasdat","avatar_url":"https://secure.gravatar.com/avatar/c7b366ceff7ea6a1178e9fc9680b3db5?d=https://a248.e.akamai.net/assets.github.com%2Fimages%2Fgravatars%2Fgravatar-140.png","gravatar_id":"c7b366ceff7ea6a1178e9fc9680b3db5"},"created_at":"2011-12-16T14:26:40Z","updated_at":"2011-12-16T14:26:40Z","id":3177696,"body":" - That is a hack: For some reason in my ASUS RGB-D camera, the images are quite dark on the first 1000 frames, so I        \r\n    usually ignore those. \r\n    ToDo (stereo_slam.cpp): Add a button to the sidebar. SLAM/tracking will only start after the user pressed this button.\r\n - This is one hint that tracking failed. At the moment, most parameters/heuristics are optimized for the \"New College      \r\n    Sequence\".  General hints: try to avoid sequences with low texture and fast camera motion \r\n    (with motion blur and rolling shutter skew). This is also related to: https://github.com/strasdat/ScaViSLAM/issues/12","url":"https://api.github.com/repos/strasdat/ScaViSLAM/issues/comments/3177696"},"action":"created"}