Stuck on `Trying to initialize`.

Hi!

I have some data I'm trying to run through ORB_SLAM2 but it never goes past the Trying to Initialize message.

I tried recording it in different ways - with the video starting with the camera hovering in one place, moving sideways, and moving forward - all with no luck.

I tried increasing ORBextractor.nFeatures, ORBextractor.nLevels: and decreasing ORBextractor.iniThFAST and ORBextractor.minThFAST in the YML settings with no luck.

ORB_SLAM2 works fine on the TUM1 (rgbd_dataset_freiburg1_desk) dataset.

Here are the videos I tried to run ORB_SLAM2 on, along with the .yaml settings file I'm using : https://drive.google.com/folderview?id=0B8OoRA1AwXH2ZndoRGhWQTRPVDg&usp=sharing

Camera matrix and distortion coefficients were calculated using the OpenCV Calibration example.

I was wondering if someone could give me some pointers on how to fix the issue.

Thanks!

• Ashwin