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IshitaTakeshi / lsd_slam_noros

ROS-independent implementation of LSD-SLAM
GNU General Public License v3.0
21 stars 7 forks source link

Debug Window doesn't open #1

Open mongrelgem opened 5 years ago

mongrelgem commented 5 years ago

When I execute the run command : ./bin/main_on_image ./data/sequence_30 I run into the following issue :

Reading Calibration from file ./data/sequence_30/camera.txt ... found! found ATAN camera model, building rectifier. Input resolution: 1280 1024 In: 0.535719 0.669567 0.493249 0.500409 0.897966 Out: Crop Output resolution: 640 480 new K: 277.523987 291.680328 312.474304 240.035583 old K: 685.720764 685.636475 630.858154 511.918457 Prepped Warp matrices Started mapping thread! Started constraint search thread! Started optimization thread found 1800 image files in folder ./data/sequence_30/images/! reading ./data/sequence_30/images/00000.jpg Doing Random initialization!

(DebugWindow DEPTH:5678): Gtk-WARNING **: gtk_disable_setlocale() must be called before gtk_init() [xcb] Unknown request in queue while dequeuing [xcb] Most likely this is a multi-threaded client and XInitThreads has not been called [xcb] Aborting, sorry about that. main_on_images: ../../src/xcb_io.c:179: dequeue_pending_request: Assertion `!xcb_xlib_unknown_req_in_deq' failed. Aborted

Do you know how i can solve this issue ? Have you run into this before ? Also , it's not necessary that i have to get a display. Is it possible to try to get the output in a file ? If so , what are the changes i have to make?

IshitaTakeshi commented 5 years ago

Please make sure you ran $./scripts/launch-container-*.sh to have an access to the X11, and try again. (If the container already exists, remove it before executing) I don't know why it happens but trying multiple times may work.

mongrelgem commented 5 years ago

I am not running it through docker. I have access to the X11 , so I don't think that's the problem

IshitaTakeshi commented 5 years ago

So you built on your ubuntu or somewhere?

mongrelgem commented 5 years ago

Yes Ubuntu 16.04.

IshitaTakeshi commented 5 years ago

That's surprising. I struggled so much to reproduce the environment and that's why I used docker. But anyway, the core code is brought from the original LSD-SLAM implementation (and the forked repository of other people), and what I did is just reproducing the execution environment, so I don't know why it happens.

mongrelgem commented 5 years ago

Is there any way to disable the display commands and just redirect the output to a file say .ply or xml ?

IshitaTakeshi commented 5 years ago

Maybe it is done here so just to remove it or to set displayDepthMap=false will do what you hope. I added code that exports point cloud to ply on the refactor branch of this repo. It will require you to resolve some dependencies when building the source so see the Dockerfile after git checkout.