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MobiSense / SwarmMap

SwarmMap: Scaling Up Real-time Collaborative Visual SLAM at the Edge
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swarm_map has no output after running command #4

Closed chivas1000 closed 1 year ago

chivas1000 commented 1 year ago

Hi I built the swarmMap with the dependencies shown in the repo

after building, I download the euroc dataset in /home/ubuntu/SwarmMap/code/MH_01_easy

and added /config/mh01-03.yaml

and then run the example command: ./swarm_map -d ../config/mh01-03.yaml -v ../code/Vocabulary/ORBvoc.bin -c 3 -l info

expected output: the viewer pops out and SLAM running in dataset

actual output: nothing

actually I build before and also have this issue at that time when I ran with breakpoint it seem to be stuck at swarm_map.cc line 250: pVoc->loadFromBinaryFile(vocFile); which seem to be changing the voc from txt to bin caused this issue

so I'm here to see is anyone ran into this problem and any solutions? any assistance would be grateful, thanks

environment setup: ubuntu18.04

spdlog (didn't specified so I used 1.7.0) Pangolin (v0.5) Eigen3 (18.04 debian packages) CUDA (10.2) OPENCV (3.4.6) BOOST (1.70.0) BEAST (included in BOOST)

and I manually added the libboost_serialization.so in CMakeLists.txt but not find package for boost_serialzation moudule since it said the build would fail for linking a static library

#FIND_PACKAGE(Boost REQUIRED COMPONENTS system filesystem date_time serialization) FIND_PACKAGE(Boost REQUIRED COMPONENTS system filesystem date_time)

target_link_libraries(${BASE_LIBRARY} ${OpenCV_LIBS} ${EIGEN3_LIBS} ${Boost_LIBRARIES} ${Pangolin_LIBRARIES} ${SRC_DIRECTORY}/Thirdparty/DBoW2/lib/libDBoW2.so ${SRC_DIRECTORY}/Thirdparty/g2o/lib/libg2o.so nvToolsExt pthread spdlog::spdlog /usr/local/lib/libboost_serialization.so.1.70.0 )

chivas1000 commented 1 year ago

this is because the full PATH of any yaml is needed for example: ../code/Vocabulary/ORBvoc.bin need to change to /home/ubuntu/SwarmMap/code/Vocabulary/ORBvoc.bin (my vocabulary path)