using webcam error about orb_slam3

[opentld]

`#include
#include
#include
#include

#include<opencv2/core/core.hpp>

#include<System.h>

#include<time.h>

using namespace std;

// From http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/

int main(int argc, char **argv)
{
string vocabPath = "ORBvoc.txt";
string settingsPath = "webcam.yaml";
if (argc == 1)
{

}
else if (argc == 2)
{
	vocabPath = argv[1];
}
else if (argc == 3)
{
	vocabPath = argv[1];
	settingsPath = argv[2];
}
else
{
    cerr << endl << "Usage: mono_webcam.exe path_to_vocabulary path_to_settings" << endl;
    return 1;
}

// Create SLAM system. It initializes all system threads and gets ready to process frames.
ORB_SLAM3::System SLAM(vocabPath, settingsPath,ORB_SLAM3::System::MONOCULAR,true);

cout << endl << "-------" << endl;
cout << "Start processing sequence ..." << endl;

cv::VideoCapture cap(0);


// From http://stackoverflow.com/questions/19555121/how-to-get-current-timestamp-in-milliseconds-since-1970-just-the-way-java-gets
__int64 now = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();


// Main loop
cv::Mat im;
cv::Mat Tcw;
while (true)
{
	cap.read(im);

	if (im.empty())
		continue;

	__int64 curNow = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now().time_since_epoch()).count();

	// Pass the image to the SLAM system
	Tcw = SLAM.TrackMonocular(im, curNow / 1000.0);

	/* This can write each image with its position to a file if you want
	if (!Tcw.empty())
	{
		cv::Mat Rwc = Tcw.rowRange(0, 3).colRange(0, 3).t();
		cv::Mat twc = -Rwc*Tcw.rowRange(0, 3).col(3);
		std::ostringstream stream;
		//stream << "imgs/" << Rwc.at<float>(0, 0) << " " << Rwc.at<float>(0, 1) << " " << Rwc.at<float>(0, 2) << " " << twc.at<float>(0) << " " <<
		//	Rwc.at<float>(1, 0) << " " << Rwc.at<float>(1, 1) << " " << Rwc.at<float>(1, 2) << " " << twc.at<float>(1) << " " <<
			//Rwc.at<float>(2, 0) << " " << Rwc.at<float>(2, 1) << " " << Rwc.at<float>(2, 2) << " " << twc.at<float>(2) << ".jpg";
		stream << "imgs/" << curNow << ".jpg";
		string fileName = stream.str();
		cv::imwrite(fileName, im);
	}
	*/

	// This will make a third window with the color images, you need to click on this then press any key to quit
	cv::imshow("Image", im);


	if (cv::waitKey(1) >= 0)
		break;
}

// Stop all threads
SLAM.Shutdown();
cap.release();

// Save camera trajectory
SLAM.SaveKeyFrameTrajectoryTUM("KeyFrameTrajectory.txt");

return 0;

}
`

here are my codes, why goes wrong? @richard-elvira @jmm-montiel @jjgr3496 @jdtardos

[jj-gomez]

Hi,
Could you provide us the calibration file you are using along the error message you are getting?

[opentld]

%YAML:1.0

#--------------------------------------------------------------------------------------------

Camera Parameters. Adjust them!

#--------------------------------------------------------------------------------------------

Camera calibration and distortion parameters (OpenCV)

Camera.fx: 458.654
Camera.fy: 457.296
Camera.cx: 367.215
Camera.cy: 248.375

Camera.k1: -0.28340811
Camera.k2: 0.07395907
Camera.p1: 0.00019359
Camera.p2: 1.76187114e-05

Camera frames per second

Camera.fps: 20.0

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: 1000

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
Viewer.GraphLineWidth: 0.9
Viewer.PointSize:2
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3
Viewer.ViewpointX: 0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -1.8
Viewer.ViewpointF: 500

---

did you mean the yml file?
There is no error message output, the program jumps directly out of the "WAITING FOR IMAGES" window.
I try to track the error, found that the problem may be in Tracking.cc, when getting the mCurrentFrame, the Frame function failed to execute correctly, it exited directly, and did not run into the Frame function.
@jjgr3496

[jj-gomez]

Thank you for posting the calibration file (the .yaml file). The error you are getting is likely caused because you need to add one of the following lines to your calibration file, depending of wich kind of camera you are using:

Camera.type: "PinHole" #For a pinhole camera

or

Camera.type: "KannalaBrandt8" #For a fisheye camera using the KannalaBrand camera model

[opentld]

it works! thank you! @jjgr3496