Unable to get good results on my own dataset for monocular

[Shantnu12345]

Hi,

When I run on Kitty sequences I am getting really good results. However, when I am trying my own dateset (please find attached pictures), I am facing sever issues. My dateset is similar to Kitty sequence 21. I have tried to modify the YAML parameters (nFeatures, scaleFactor, level, iniThFast, minThFast, etc) but no luck. Here are some of the issues I am facing:

• Taking long time to initialize (which varies from 5 secs to 30 secs randomly) for the same image stream.
• Map gets reset occasionally and I get the error "Fail to track local map!"

Please let me know what can be done to alleviate these problems. Thank you a lot in advance :)

ms