d2vins_node: /root/swarm_ws/src/D2SLAM/d2frontend/src/loop_detector.cpp:561: bool D2FrontEnd::LoopDetector::computeCorrespondFeatures(const D2Common::VisualImageDesc&, const D2Common::VisualImageDesc&, std::vector<Eigen::Matrix<double, 3, 1> >&, std::vector<int>&, std::vector<Eigen::Matrix<double, 3, 1> >&, std::vector<int>&, std::vector<int>&): Assertion `img_desc_a.spLandmarkNum() * params->superpoint_dims == img_desc_a.landmark_descriptor.size() && "Desciptor size of new img desc must equal to to landmarks*256!!!"' failed.
Stack trace (most recent call last) in thread 6789:
#12 Object "", at 0xffffffffffffffff, in
#11 Source "../sysdeps/unix/sysv/linux/x86_64/clone.S", line 95, in __clone [0x7fadfb324352]
#10 Source "/build/glibc-LcI20x/glibc-2.31/nptl/pthread_create.c", line 477, in start_thread [0x7fadfdabb608]
#9 Object "/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.28", at 0x7fadfb639df3, in
[08:50:20][info][d2featuretracker.cpp,trackLocalFrames,L136] frame_id: 1000628 is_kf false, landmark_num: 203/252, mean_para 2.20%, time_cost: 5.3ms
#8 Source "/root/swarm_ws/src/D2SLAM/d2frontend/src/d2frontend.cpp", line 172, in loopDetectionThread [0x7fadfd7449ec]
169: if (loop_queue.size() > 10) {
170: SPDLOG_WARN("Loop queue size is {}", loop_queue.size());
171: }
> 172: loop_detector->processImageArray(vframearry);
173: }
174: loop_detection_thread_rate_ptr_->sleep();
175: }
#7 Source "/root/swarm_ws/src/D2SLAM/d2frontend/src/loop_detector.cpp", line 185, in processImageArray [0x7fadfd7012eb]
182: _old_fisheye_img.frame_id);
183: swarm_msgs::LoopEdge ret;
184: if (_old_fisheye_img.drone_id == self_id) {
> 185: success = computeLoop(_old_fisheye_img, image_array, camera_index_old,
186: camera_index, ret);
187: } else if (image_array.drone_id == self_id) {
188: success = computeLoop(image_array, _old_fisheye_img, camera_index,
#6 Source "/root/swarm_ws/src/D2SLAM/d2frontend/src/loop_detector.cpp", line 655, in computeLoop [0x7fadfd6fe3bc]
652: std::vector<int> camera_indices;
653: std::vector<std::pair<int, int>> index2dirindex_a, index2dirindex_b;
654:
> 655: success = computeCorrespondFeaturesOnImageArray(
656: frame_array_a, frame_array_b, main_dir_a, main_dir_b, lm_pos_a,
657: lm_norm_3d_b, camera_indices, index2dirindex_a, index2dirindex_b);
[08:50:20][info][d2featuretracker.cpp,trackLocalFrames,L136] frame_id: 1000629 is_kf true, landmark_num: 203/251, mean_para 3.43%, time_cost: 5.6ms
#5 Source "/root/swarm_ws/src/D2SLAM/d2frontend/src/loop_detector.cpp", line 499, in computeCorrespondFeaturesOnImageArray [0x7fadfd6fb7b1]
497: if (dir_a < frame_array_a.images.size() &&
498: dir_b < frame_array_b.images.size() && dir_a >= 0 && dir_b >= 0) {
> 499: bool succ = computeCorrespondFeatures(
500: frame_array_a.images[dir_a], frame_array_b.images[dir_b], _lm_pos_a,
501: _idx_a, _lm_norm_3d_b, _idx_b, _camera_indices);
502: SPDLOG_INFO(
#4 Source "/root/swarm_ws/src/D2SLAM/d2frontend/src/loop_detector.cpp", line 561, in computeCorrespondFeatures [0x7fadfd6f7e4a]
558: _matches =
559: superglue->inference(kpts_a, kpts_b, desc0, desc1, scores0, scores1);
560: } else {
> 561: assert(img_desc_a.spLandmarkNum() * params->superpoint_dims ==
562: img_desc_a.landmark_descriptor.size() &&
563: "Desciptor size of new img desc must equal to to landmarks*256!!!");
564: assert(img_desc_b.spLandmarkNum() * params->superpoint_dims ==
#3 Source "/build/glibc-LcI20x/glibc-2.31/assert/assert.c", line 101, in __assert_fail [0x7fadfb238fd5]
#2 Source "/build/glibc-LcI20x/glibc-2.31/assert/assert.c", line 92, in __assert_fail_base [0x7fadfb227728]
#1 Source "/build/glibc-LcI20x/glibc-2.31/stdlib/abort.c", line 79, in abort [0x7fadfb227858]
#0 Source "../sysdeps/unix/sysv/linux/raise.c", line 51, in raise [0x7fadfb24800b]
Aborted (Signal sent by tkill() 6754 0)
[d2vins-1] process has died [pid 6754, exit code -6, cmd /root/swarm_ws/devel/lib/d2vins/d2vins_node __name:=d2vins __log:=/root/.ros/log/7facdba2-9cc7-11ef-9ba3-28d0ea3d2525/d2vins-1.log].
log file: /root/.ros/log/7facdba2-9cc7-11ef-9ba3-28d0ea3d2525/d2vins-1*.log
Really thankful of your amazing work, but there is this error that about the mismatch in dimensions for loop detection, maybe you have a way to resolve the desc size
Really thankful of your amazing work, but there is this error that about the mismatch in dimensions for loop detection, maybe you have a way to resolve the desc size