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BertaBescos / DynaSLAM

DynaSLAM is a SLAM system robust in dynamic environments for monocular, stereo and RGB-D setups
https://bertabescos.github.io/DynaSLAM/
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OpenCV Error: Assertion failed (a_size.width == len) in gemm #52

Open KaninchenM opened 4 years ago

KaninchenM commented 4 years ago

I've installed the environment of DynaSlam on two servers. Because not only me use the servers, I use docker and anaconda separately on the two servers to prepare the environment. I've check the maskrcnn's environment and compiled the DynaSlam code successfully both on the two. However, when I ran the rgbd_tum by same command, the one on docker successfully completed, while the one using anaconda(install the python packages by conda, install the c++ dependence by apt-get or compile the source code) got error: OpenCV Error: Assertion failed (a_size.width == len) in gemm, file /home/tensorflow03/mxw_slam/opencv-2.4.11/modules/core/src/matmul.cpp, line 728 terminate called after throwing an instance of 'cv::Exception' what(): /home/tensorflow03/mxw_slam/opencv-2.4.11/modules/core/src/matmul.cpp:728: error: (-215) a_size.width == len in function gemm Aborted (core dumped)

The data is Tum-RGBD, and I've tried the rgbd_dataset_freiburg3_walking_static and rgbd_dataset_freiburg3_walking_xyz. Let the program print the count of passing image to locate the error. In sequence rgbd_dataset_freiburg3_walking_xyz, error appeared at 775th/828(sum of images), while in rgbd_dataset_freiburg3_walking_static appeared at 599th/718. I've set the opencv directory in CMakeLists.txt, and the error seems show it was using opencv-2.4.11. Why the same code shows different results? How should I fix it?

KaninchenM commented 4 years ago

I've check the CMakeLists.txt in folder /DynaSLAM , /DynaSLAM/Thirdparty/DBoW2/ and /DynaSLAM/Thirdparty/g2o/, and modifed SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3 -march=native") to SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3") then compiled the code. It fix my problem.

KaninchenM commented 4 years ago

Remember, if someone get this error when using only multi-view, or get Segmentation fault(core error) using maskrcnn, please make sure you're running code under /DynaSLAM folder. Beacause when I try to run it outside the folder, I meet the error. It may be a point relative with C++, I guess(it's my first time use C++)

dinarkino commented 4 years ago

@KaninchenM I got this error which is very similar to yours: 

OpenCV Error: Assertion failed (size.width>0 && size.height>0) in imshow, file /home/telekprod/packages/opencv-2.4.11/modules/highgui/src/window.cpp, line 261
terminate called after throwing an instance of 'cv::Exception'
  what():  /home/telekprod/packages/opencv-2.4.11/modules/highgui/src/window.cpp:261: error: (-215) size.width>0 && size.height>0 in function imshow

Aborted (core dumped)

I tried to recompile everything without -march=native but nothing changed (I'm not sure should I change that only for CMAKE_CXX_FLAGS_RELEASE or also for CMAKE_CXX_FLAGS and CMAKE_C_FLAGS). I'm running the code for the mono_tum from DynaSLAM folder. I found on the Stack that this error often happens with the wrong path to the images, or for the empty files, but it seems that I'm using the same code as in readme and there are actually images at the path

./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM2.yaml ~/data/t_desk

ls ~/data/t_desk
accelerometer.txt  depth  depth.txt  groundtruth.txt  rgb  rgb.txt
KaninchenM commented 4 years ago

@KaninchenM I got this error which is very similar to yours:

OpenCV Error: Assertion failed (size.width>0 && size.height>0) in imshow, file /home/telekprod/packages/opencv-2.4.11/modules/highgui/src/window.cpp, line 261
terminate called after throwing an instance of 'cv::Exception'
  what():  /home/telekprod/packages/opencv-2.4.11/modules/highgui/src/window.cpp:261: error: (-215) size.width>0 && size.height>0 in function imshow

Aborted (core dumped)

I tried to recompile everything without -march=native but nothing changed (I'm not sure should I change that only for CMAKE_CXX_FLAGS_RELEASE or also for CMAKE_CXX_FLAGS and CMAKE_C_FLAGS). I'm running the code for the mono_tum from DynaSLAM folder. I found on the Stack that this error often happens with the wrong path to the images, or for the empty files, but it seems that I'm using the same code as in readme and there are actually images at the path

./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM2.yaml ~/data/t_desk

ls ~/data/t_desk
accelerometer.txt  depth  depth.txt  groundtruth.txt  rgb  rgb.txt

Sorry to see it now. Have you solve the problem? I didn't run the mono scripts, I ran the rgbd_tum.cc. Maybe you can check the following 3 points:

  1. Change not only CMAKE_CXX_FLAGS_RELEASE but also like 
    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS}  -Wall  -O3")
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wall   -O3")
SET(CMAKE_CXX_FLAGS_RELEASE "${CMAKE_CXX_FLAGS_RELEASE} -O3") 
SET(CMAKE_C_FLAGS_RELEASE "${CMAKE_C_FLAGS_RELEASE} -O3")
  2. Change not only the /DynaSLAM/CMakeLists.txt but also /DynaSLAM/Thirdparty/DBoW2/CMakeLists.txt and /DynaSLAM/Thirdparty/g2o/CMakeLists.txt
  3. Use the absolute path in your command.
liubamboo commented 3 years ago

I have the same bug. But the method above can't solve my bug. And the bug sometimes appears and sometimes not. it's very strange

KaninchenM commented 3 years ago

I have the same bug. But the method above can't solve my bug. And the bug sometimes appears and sometimes not. it's very strange

What's the difference between the states(the bug appears or not)? Maybe the different shape of input img? If there's no change, maybe the problem caused in initialization. But I just guess it because the above methods had solved my problem.

liubamboo commented 3 years ago

when I run rgbd_tum on fr3_s_xyz sequence. it appear a bug: Light Tracking not working because Tracking is not initialized... Geometry not working. New map created with 268 points Geometry not working. Geometry not working. Geometry not working. Geometry not working. Geometry not working. Geometry not working. Geometry not working. OpenCV Error: Assertion failed (a_size.width == len) in gemm, file /home/n609/install/opencv-2.4.11/modules/core/src/matmul.cpp, line 728 terminate called after throwing an instance of 'cv::Exception' what(): /home/n609/install/opencv-2.4.11/modules/core/src/matmul.cpp:728: error: (-215) a_size.width == len in function gemm

Hello-Water commented 3 years ago

@KaninchenM I got this error which is very similar to yours:

OpenCV Error: Assertion failed (size.width>0 && size.height>0) in imshow, file /home/telekprod/packages/opencv-2.4.11/modules/highgui/src/window.cpp, line 261
terminate called after throwing an instance of 'cv::Exception'
  what():  /home/telekprod/packages/opencv-2.4.11/modules/highgui/src/window.cpp:261: error: (-215) size.width>0 && size.height>0 in function imshow

Aborted (core dumped)

I tried to recompile everything without -march=native but nothing changed (I'm not sure should I change that only for CMAKE_CXX_FLAGS_RELEASE or also for CMAKE_CXX_FLAGS and CMAKE_C_FLAGS). I'm running the code for the mono_tum from DynaSLAM folder. I found on the Stack that this error often happens with the wrong path to the images, or for the empty files, but it seems that I'm using the same code as in readme and there are actually images at the path

./Examples/Monocular/mono_tum Vocabulary/ORBvoc.txt Examples/Monocular/TUM2.yaml ~/data/t_desk

ls ~/data/t_desk
accelerometer.txt  depth  depth.txt  groundtruth.txt  rgb  rgb.txt

This error often occurs at the end of reading a video, because after a video is read and displayed, the image is empty. Maybe you can make the following changes in src/Viewer.cc: if(!im.empty()) cv::imshow("DynaSLAM: Current Frame",im); if(!im_dyn.empty()) cv::imshow("DynaSLAM: Dynamic Frame", im_dyn);