{"action":"opened","issue":{"url":"https://api.github.com/repos/raulmur/ORB_SLAM2/issues/136","repository_url":"https://api.github.com/repos/raulmur/ORB_SLAM2","labels_url":"https://api.github.com/repos/raulmur/ORB_SLAM2/issues/136/labels{/name}","comments_url":"https://api.github.com/repos/raulmur/ORB_SLAM2/issues/136/comments","events_url":"https://api.github.com/repos/raulmur/ORB_SLAM2/issues/136/events","html_url":"https://github.com/raulmur/ORB_SLAM2/issues/136","id":168658446,"number":136,"title":"Modification and Improvement with Multiple Cameras with Non-overlapping FOVs","user":{"login":"Severn-Vergil","id":10786161,"avatar_url":"https://avatars.githubusercontent.com/u/10786161?v=3","gravatar_id":"","url":"https://api.github.com/users/Severn-Vergil","html_url":"https://github.com/Severn-Vergil","followers_url":"https://api.github.com/users/Severn-Vergil/followers","following_url":"https://api.github.com/users/Severn-Vergil/following{/other_user}","gists_url":"https://api.github.com/users/Severn-Vergil/gists{/gist_id}","starred_url":"https://api.github.com/users/Severn-Vergil/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Severn-Vergil/subscriptions","organizations_url":"https://api.github.com/users/Severn-Vergil/orgs","repos_url":"https://api.github.com/users/Severn-Vergil/repos","events_url":"https://api.github.com/users/Severn-Vergil/events{/privacy}","received_events_url":"https://api.github.com/users/Severn-Vergil/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"assignees":[],"milestone":null,"comments":0,"created_at":"2016-08-01T14:24:25Z","updated_at":"2016-08-01T14:24:25Z","closed_at":null,"body":"Hi, @raulmur \r\nThank you for your great work, now I'm trying to use RGB-D info from 2 Kinect attached on a mobile robot, one on the front, another rear.\r\nI've modified your ROS example so that GrabRGBD could be called when Kinect data flush in. However as the rapid FOV changes triggered by the multiple cameras, the SLAM system is easily in tracking lost. I've tried to release the constraint of relocalization, for example, decreasing minScoreToRetain and minCommonWords in DetectRelocalizationCandidates(), increasing the number of GetBestCovisibilityKeyFrames() and nnratio in ORBmatcher for more keyframes and higher relocalization rate. But the tracking lost problem is still serious, and the quality of visual odometry deteriorate significantly.\r\nAs the rapid change of FOV, track with motion model can not work, it seems that only relocalization in a more thorough information provided by the map, keyframes can make it work, or maybe I didn't understand the system enough.\r\nCould you provide some suggestions for me on how to improve the performance in the applications with  multiple cameras with non-overlapping FOVs? Thank you in advance!"}}
{"actor":{"display_login":"Severn-Vergil"}}