Updated README.md

Examples/Stereo/stereo_kitti.cc

@@ -75,6 +75,12 @@ int main(int argc, char **argv)
             cerr << endl << "Failed to load image at: "
                  << string(vstrImageLeft[ni]) << endl;
             return 1;
+        } 
+        else if(imRight.empty())
+        {
+            cerr << endl << "Failed to load image at: "
+                 << string(vstrImageRight[ni]) << endl;
+            return 1;
         }
 
 #ifdef COMPILEDWITHC11

README.md

@@ -107,7 +107,7 @@ This will create **libORB_SLAM2.so**  at *lib* folder and the executables **mono
 
 1. Download the dataset (grayscale images) from http://www.cvlibs.net/datasets/kitti/eval_odometry.php 
 
-2. Execute the following command. Change `KITTIX.yaml`by KITTI00-02.yaml, KITTI03.yaml or KITTI04-12.yaml for sequence 0 to 2, 3, and 4 to 12 respectively. Change `PATH_TO_DATASET_FOLDER` to the uncompressed dataset folder. Change `SEQUENCE_NUMBER` to 00, 01, 02,.., 11. 
+2. Execute the following command. Change `KITTIX.yaml`by `KITTI00-02.yaml`, `KITTI03.yaml` or `KITTI04-12.yaml` for sequence 0 to 2, 3, and 4 to 12 respectively. Change `PATH_TO_DATASET_FOLDER` to the uncompressed dataset folder. Change `SEQUENCE_NUMBER` to 00, 01, 02,.., 11. 
 ```
 ./Examples/Monocular/mono_kitti Vocabulary/ORBvoc.txt Examples/Monocular/KITTIX.yaml PATH_TO_DATASET_FOLDER/dataset/sequences/SEQUENCE_NUMBER
 ```

src/Tracking.cc

@@ -539,11 +539,7 @@ void Tracking::StereoInitialization()
 
         cout << "New map created with " << mpMap->MapPointsInMap() << " points" << endl;
 
-        mpLocalMapper->InsertKeyFrame(pKFini);
-
-        mLastFrame = Frame(mCurrentFrame);
-        mnLastKeyFrameId=mCurrentFrame.mnId;
-        mpLastKeyFrame = pKFini;
+        mpLocalMapper->InsertKeyFrame(pKFini);        
 
         mvpLocalKeyFrames.push_back(pKFini);
         mvpLocalMapPoints=mpMap->GetAllMapPoints();
@@ -555,6 +551,10 @@ void Tracking::StereoInitialization()
         mpMap->mvpKeyFrameOrigins.push_back(pKFini);
 
         mpMapDrawer->SetCurrentCameraPose(mCurrentFrame.mTcw);
+
+        mLastFrame = Frame(mCurrentFrame);
+        mnLastKeyFrameId=mCurrentFrame.mnId;
+        mpLastKeyFrame = pKFini;
 
         mState=OK;
     }