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OAK-D/ORB_SLAM3 Experiment [2021-12-08 19:43:20.808] [warning] setOutputRectified is deprecated. The output is auto-enabled if used [2021-12-08 19:43:20.808] [warning] setOutputDepth is deprecated. The output is auto-enabled if used [2021-12-08 19:43:20.808] [warning] setRectifyMirrorFrame is deprecated.

ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it under certain conditions. See LICENSE.txt.

Input sensor was set to: Stereo

Loading ORB Vocabulary. This could take a while... Vocabulary loaded!

Creation of new map with id: 0 Creation of new map with last KF id: 0 Seq. Name:

Camera Parameters:

• Camera: Pinhole
• fx: 859.043
• fy: 859.612
• cx: 639.302
• cy: 412.302
• k1: 0
• k2: 0
• p1: 0
• p2: 0
• fps: 20
• color order: RGB (ignored if grayscale) ThDepth parameter doesn't exist or is not a real number Error with the camera parameters in the config file

ORB Extractor Parameters:

• Number of Features: 1200
• Scale Levels: 8
• Scale Factor: 1.2
• Initial Fast Threshold: 20
• Minimum Fast Threshold: 7 ERROR in the config file, the format is not correct terminate called after throwing an instance of 'int' Stack trace (most recent call last): #11 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in #10 Object "./build/bin//oakd_orbslam3", at 0x55579359ba9d, in #9 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9a101d20b2, in __libc_start_main #8 Object "./build/bin//oakd_orbslam3", at 0x55579359c36e, in #7 Object "/home/xht/Desktop/oakd_orbslam3/ORB_SLAM3/lib/libORB_SLAM3.so", at 0x7f9a11577a9f, in ORB_SLAM3::System::System(std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, ORB_SLAM3::System::eSensor, bool, int, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&, std::__cxx11::basic_string<char, std::char_traits, std::allocator > const&) #6 Object "/home/xht/Desktop/oakd_orbslam3/ORB_SLAM3/lib/libORB_SLAM3.so", at 0x7f9a11558d66, in #5 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f9a105b36a8, in __cxa_throw #4 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f9a105b33f6, in std::terminate() #3 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f9a105b338b, in #2 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f9a105a7910, in #1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9a101d0858, in abort #0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f9a101f118b, in gsignal Aborted (Signal sent by tkill() 92026 0) Aborted (core dumped)