Monocular slam after stereo pair based slam.

[Rahul Sharma]

Hi,
I have generated the indoor map with stereo pair camera as-
"./ucoslam_stereo outcpp1.avi outcpp2.avi stereo.yml -voc orb.fbow".
The latest version is working good.
Few doubts-
1) To use in monocular mode, i calibrated my left camera as discribed here-
https://www.youtube.com/watch?v=7l0JZQhuhaI&index=2&list=PL7EOs-8ZXfMZD9xsTg-jQHYuHh9ghz9VG
And saved the calibration file. Now when i run the tracking mode with monoclar example such as -
"./ucoslam_monocular outcpp1.avi calibration.yml -map world.map ", it runs good for few frames then it throughs error after some time-
Image 127 fps=40.0858
Image 128 fps=40.092
Image 129 fps=39.798
terminate called after throwing an instance of 'std::runtime_error'
what(): Map::addKeyFrame keyframes added should have a similar focus than these already in the dataset
Aborted (core dumped)

But if i run on ucoslam_gui, it works. Don't know why it throughs such error in terminal?

2) In orbslam2 project i can see there is a "baseline" parameter in yaml file that is being used but here in stereo.yml file that is generated in stereo calibration, i can't find that. Does it is included default inside the ucoslam project?

3) After enabling both parametrs in myparams.yml file-
runSequential: 1
detectMarkers: 1
Still not able to see the baundries of detected markers. Have also changed the "aruco_markerSize" accordingly. Should i have to use specified markers only?

Thanks.

[Jamy Chahal]

There is a new release, 1.0.6, maybe this problem has been solved ?