Closed duanyaoguang closed 1 year ago
at first, I use command to run the test case：
./dso_dataset files=./sequence_26/images calib=./sequence_26/camera.txt gamma=./sequence_26/pcalib.txt vignette=./sequence_26/vignette.png preset=0 mode=0
And then, the output logs is:
loading data from ./sequence_26/images! loading calibration from ./sequence_26/camera.txt! loading gammaCalib from ./sequence_26/pcalib.txt! loading vignette from ./sequence_26/vignette.png! =============== PRESET Settings: =============== DEFAULT settings: - no real-time enforcing - 2000 active points - 5-7 active frames - 1-6 LM iteration each KF - original image resolution ============================================== PHOTOMETRIC MODE WITH CALIBRATION! Reading Calibration from file ./sequence_26/camera.txt ... found! found ATAN camera model, building rectifier. Creating FOV undistorter Input resolution: 1280 1024 In: 0.535719 0.669567 0.493249 0.500409 0.897966 Found fx=0.535719, fy=0.669567, cx=0.493249, cy=0.500409. I'm assuming this is the "relative" calibration file format,and will rescale this by image width / height to fx=685.720714, fy=685.636463, cx=630.858138, cy=511.918472. Out: Rectify Crop Output resolution: 640 480 finding CROP optimal new model! initial range: x: -1.1372 - 1.1901; y: -0.8311 - 0.8292! iteration 00001: range: x: -1.1315 - 1.1841; y: -0.8311 - 0.8292! iteration 00002: range: x: -1.1258 - 1.1782; y: -0.8311 - 0.8292! iteration 00003: range: x: -1.1258 - 1.1782; y: -0.8270 - 0.8251! iteration 00004: range: x: -1.1258 - 1.1782; y: -0.8228 - 0.8209! iteration 00005: range: x: -1.1258 - 1.1782; y: -0.8228 - 0.8209! Rectified Kamera Matrix: 277.34 0 312.234 0 291.402 239.777 0 0 1 Reading Photometric Calibration from file ./sequence_26/pcalib.txt Reading Vignette Image from ./sequence_26/vignette.png Successfully read photometric calibration! got 2760 images and 2760 timestamps and 2760 exposures.! ImageFolderReader: got 2760 files in ./sequence_26/images! using pyramid levels 0 to 3. coarsest resolution: 80 x 60! START PANGOLIN! Initialization: keep 21.5% (need 2000, have 9284)! INITIALIZE FROM INITIALIZER (1992 pts)! SPARSITY: MinActDist 1.900000 (need 2000 points, have 1992 points)! OPTIMIZE 1992 pts, 1992 active res, 0 lin res! Initial Error A(411141.345536)=(AV inf). Num: A(0) + M(0); ab 0.000000 0.000000! STEPS: A 0.0; B 0.2; R 4.1; T 14.9. REJECT 0 (L -1.00, dir nan, ss 1.0): A(497945.603825)=(AV 6.733). Num: A(1373) + M(0); ab -0.000010 0.013283! STEPS: A 0.0; B 1.2; R 1.4; T 2.9. ACCEPT 1 (L -1.60, dir -0.00, ss 1.0): A(455559.838984)=(AV 6.087). Num: A(1537) + M(0); ab -0.000019 -0.084502! STEPS: A 0.0; B 0.2; R 1.1; T 2.7. ACCEPT 2 (L -2.20, dir 0.21, ss 1.0): A(438268.820377)=(AV 6.000). Num: A(1522) + M(0); ab -0.000018 -0.069871! STEPS: A 0.0; B 0.3; R 0.5; T 0.6. ACCEPT 3 (L -2.81, dir 0.09, ss 1.0): A(435927.779987)=(AV 5.997). Num: A(1515) + M(0); ab -0.000018 -0.048207! LOG 9: 5.988 fine. Res: 1515 A, 0 L, 0 M; (0 / 0) forceDrop. a=-0.000018, b=-0.048207. Window 9 (2) Coarse Tracker tracked ab = -0.005093 -0.157469 (exp 33.308071). Res 3.052583! Coarse Tracker tracked ab = -0.022942 0.404961 (exp 33.308071). Res 3.491163! Coarse Tracker tracked ab = -0.041404 0.699292 (exp 33.308071). Res 3.905575! Coarse Tracker tracked ab = -0.051148 0.528661 (exp 33.308071). Res 4.646412! Coarse Tracker tracked ab = -0.093997 1.353475 (exp 33.308071). Res 5.041538! Coarse Tracker tracked ab = -0.123556 1.977777 (exp 33.308071). Res 5.496130! SPARSITY: MinActDist 1.400000 (need 2000 points, have 1424 points)! zsh: segmentation fault ./dso_dataset files=./sequence_26/images calib=./sequence_26/camera.txt
I find the segmentation fault at last of the log, then I try to use debug mode to run the code.
I use lldb on Mac run dso_dataset in debug mode,
# run command $ lldb ./dso_dataset (lldb) run files=./sequence_14/images calib=./sequence_14/camera.txt gamma=./sequence_14/pcalib.txt vignette=./sequence_14/vignette.png preset=0 mode=0
and it throw a error: stop reason = EXC_BAD_ACCESS (code=1, address=0xd8)
Process 35046 launched: '/Users/lannisite/dso-slam/dso/build/bin/dso_dataset' (x86_64) loading data from ./sequence_14/images! loading calibration from ./sequence_14/camera.txt! loading gammaCalib from ./sequence_14/pcalib.txt! loading vignette from ./sequence_14/vignette.png! =============== PRESET Settings: =============== DEFAULT settings: - no real-time enforcing - 2000 active points - 5-7 active frames - 1-6 LM iteration each KF - original image resolution ============================================== PHOTOMETRIC MODE WITH CALIBRATION! Reading Calibration from file ./sequence_14/camera.txt ... found! found ATAN camera model, building rectifier. Creating FOV undistorter Input resolution: 1280 1024 In: 0.349153 0.436593 0.493140 0.499021 0.933271 Found fx=0.349153, fy=0.436593, cx=0.493140, cy=0.499021. I'm assuming this is the "relative" calibration file format,and will rescale this by image width / height to fx=446.915840, fy=447.071232, cx=630.719200, cy=510.497504. Out: 0.400000 0.530000 0.500000 0.500000 0.000000 Output resolution: 640 480 Rectified Kamera Matrix: 256 0 319.5 0 254.4 239.5 0 0 1 Reading Photometric Calibration from file ./sequence_14/pcalib.txt Reading Vignette Image from ./sequence_14/vignette.png Successfully read photometric calibration! got 1550 images and 1550 timestamps and 1550 exposures.! ImageFolderReader: got 1550 files in ./sequence_14/images! using pyramid levels 0 to 3. coarsest resolution: 80 x 60! START PANGOLIN! 2023-08-02 22:47:59.741294+0800 dso_dataset[35046:1218164] SecTaskLoadEntitlements failed error=22 cs_flags=20, pid=35046 2023-08-02 22:47:59.741424+0800 dso_dataset[35046:1218164] SecTaskCopyDebugDescription: dso_dataset[35046]/0#-1 LF=0 2023-08-02 22:48:00.081560+0800 dso_dataset[35046:1218164] [default] CGSWindowShmemCreateWithPort failed on port 0 2023-08-02 22:48:00.222154+0800 dso_dataset[35046:1218164] [Window] Warning: Window NSWindow 0x13a405c90 ordered front from a non-active application and may order beneath the active application's windows. Initialization: keep 21.9% (need 2000, have 9134)! INITIALIZE FROM INITIALIZER (1985 pts)! SPARSITY: MinActDist 1.900000 (need 2000 points, have 1985 points)! OPTIMIZE 1985 pts, 1985 active res, 0 lin res! Initial Error A(478347.302097)=(AV inf). Num: A(0) + M(0); ab 0.000000 0.000000! STEPS: A 0.0; B 15.7; R 5.9; T 11.3. REJECT 0 (L -1.00, dir nan, ss 1.0): A(485636.342187)=(AV 6.439). Num: A(1464) + M(0); ab -0.000087 -1.328218! STEPS: A 0.0; B 3.9; R 1.0; T 2.9. ACCEPT 1 (L -1.60, dir 0.37, ss 1.0): A(463286.125778)=(AV 5.953). Num: A(1634) + M(0); ab -0.000111 -1.658617! STEPS: A 0.0; B 0.9; R 0.4; T 0.9. ACCEPT 2 (L -2.20, dir 0.48, ss 1.0): A(461859.481012)=(AV 5.961). Num: A(1625) + M(0); ab -0.000110 -1.731262! LOG 9: 5.956 fine. Res: 1625 A, 0 L, 0 M; (0 / 0) forceDrop. a=-0.000110, b=-1.731262. Window 9 (2) Coarse Tracker tracked ab = -0.020591 3.705850 (exp 18.505003). Res 5.396490! Coarse Tracker tracked ab = -0.015714 2.823935 (exp 18.505003). Res 5.100263! Coarse Tracker tracked ab = -0.009973 1.754565 (exp 18.505003). Res 5.484550! Coarse Tracker tracked ab = -0.009745 1.973367 (exp 18.505003). Res 6.067480! Coarse Tracker tracked ab = -0.011804 2.672656 (exp 18.505003). Res 6.531821! Coarse Tracker tracked ab = -0.015430 3.380671 (exp 18.505003). Res 7.405314! Coarse Tracker tracked ab = -0.010160 2.921784 (exp 18.505003). Res 7.976058! SPARSITY: MinActDist 1.700000 (need 2000 points, have 1615 points)! Process 35046 stopped * thread #10, stop reason = EXC_BAD_ACCESS (code=1, address=0xd8) frame #0: 0x00000001000335b7 dso_dataset`dso::FullSystem::activatePointsMT() [inlined] std::__1::vector<dso::ImmaturePoint*, std::__1::allocator<dso::ImmaturePoint*> >::operator[][abi:v15006](this=0x00000000000000d8 size=0, __n=0) at vector:1457:18 [opt] 1454 vector<_Tp, _Allocator>::operator[](size_type __n) _NOEXCEPT 1455 { 1456 _LIBCPP_ASSERT(__n < size(), "vector[] index out of bounds"); -> 1457 return this->__begin_[__n]; 1458 } 1459 1460 template <class _Tp, class _Allocator> Target 0: (dso_dataset) stopped. warning: dso_dataset was compiled with optimization - stepping may behave oddly; variables may not be available.
at first, I use command to run the test case：
And then, the output logs is:
I find the segmentation fault at last of the log, then I try to use debug mode to run the code.
I use lldb on Mac run dso_dataset in debug mode,
and it throw a error: stop reason = EXC_BAD_ACCESS (code=1, address=0xd8)