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SYSU-STAR / H2-Mapping

H2-Mapping: Real-time Dense Mapping Using Hierarchical Hybrid Representation (2023 RAL Best Paper Award)
GNU General Public License v3.0
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运行FULL SLAM系统结束时遇到报错 #27

Closed lvmingzhe closed 3 months ago

lvmingzhe commented 6 months ago

该错误是发生在下达rosnode kill -a指令之后， 仅在运行FULL SLAM系统时候才有，在运行纯mapping线程的时候没有报错。 mesh可以提取出来，似乎也不是一个致命的错误。但我有点好奇能不能有什么思路解决这个问题？

idx:  21
idx:  22
idx:  23
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idx:  27
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idx:  30
shutdown request: user request
******* mapping process died *******
********** post-processing 0 steps **********
******* extracting final mesh *******
********** get color from network **********
******* mapping process died *******
Exception ignored in: <function Image.__del__ at 0xfffee2a34af0>
Traceback (most recent call last):
  File "/home/hello/mambaforge/envs/h2mapping/lib/python3.8/tkinter/__init__.py", line 4017, in __del__
    self.tk.call('image', 'delete', self.name)
RuntimeError: main thread is not in main loop
Exception ignored in: <function Variable.__del__ at 0xfffee2a1a1f0>
Traceback (most recent call last):
  File "/home/hello/mambaforge/envs/h2mapping/lib/python3.8/tkinter/__init__.py", line 363, in __del__
    if self._tk.getboolean(self._tk.call("info", "exists", self._name)):
RuntimeError: main thread is not in main loop
Exception ignored in: <function Variable.__del__ at 0xfffee2a1a1f0>
Traceback (most recent call last):
  File "/home/hello/mambaforge/envs/h2mapping/lib/python3.8/tkinter/__init__.py", line 363, in __del__
    if self._tk.getboolean(self._tk.call("info", "exists", self._name)):
RuntimeError: main thread is not in main loop
Exception ignored in: <function Variable.__del__ at 0xfffee2a1a1f0>
Traceback (most recent call last):
  File "/home/hello/mambaforge/envs/h2mapping/lib/python3.8/tkinter/__init__.py", line 363, in __del__
    if self._tk.getboolean(self._tk.call("info", "exists", self._name)):
RuntimeError: main thread is not in main loop
Exception ignored in: <function Variable.__del__ at 0xfffee2a1a1f0>
Traceback (most recent call last):
  File "/home/hello/mambaforge/envs/h2mapping/lib/python3.8/tkinter/__init__.py", line 363, in __del__
    if self._tk.getboolean(self._tk.call("info", "exists", self._name)):
RuntimeError: main thread is not in main loop
Exception ignored in: <function Image.__del__ at 0xfffee2a34af0>
Traceback (most recent call last):
  File "/home/hello/mambaforge/envs/h2mapping/lib/python3.8/tkinter/__init__.py", line 4017, in __del__
    self.tk.call('image', 'delete', self.name)
RuntimeError: main thread is not in main loop
Exception ignored in: <function Variable.__del__ at 0xfffee2a1a1f0>
Traceback (most recent call last):
  File "/home/hello/mambaforge/envs/h2mapping/lib/python3.8/tkinter/__init__.py", line 363, in __del__
    if self._tk.getboolean(self._tk.call("info", "exists", self._name)):
RuntimeError: main thread is not in main loop
Exception ignored in: <function Variable.__del__ at 0xfffee2a1a1f0>
Traceback (most recent call last):
  File "/home/hello/mambaforge/envs/h2mapping/lib/python3.8/tkinter/__init__.py", line 363, in __del__
    if self._tk.getboolean(self._tk.call("info", "exists", self._name)):
RuntimeError: main thread is not in main loop
Exception ignored in: <function Variable.__del__ at 0xfffee2a1a1f0>
Traceback (most recent call last):
  File "/home/hello/mambaforge/envs/h2mapping/lib/python3.8/tkinter/__init__.py", line 363, in __del__
    if self._tk.getboolean(self._tk.call("info", "exists", self._name)):
RuntimeError: main thread is not in main loop
Exception ignored in: <function Variable.__del__ at 0xfffee2a1a1f0>
Traceback (most recent call last):
  File "/home/hello/mambaforge/envs/h2mapping/lib/python3.8/tkinter/__init__.py", line 363, in __del__
    if self._tk.getboolean(self._tk.call("info", "exists", self._name)):
RuntimeError: main thread is not in main loop
Tcl_AsyncDelete: async handler deleted by the wrong thread
Aborted (core dumped)

我问了chatGPT, 大概的解释是关闭其他窗口时候发现已经结束。 以下是chatGPT的解释： 错误与 Python 中的 tkinter 库相关，这是一个用于创建图形用户界面的库。具体错误信息说明在对象的析构函数（del）中，尝试与图形用户界面的主线程进行交互时出现了问题。报错 "RuntimeError: main thread is not in main loop" 表明主线程不在主循环中，这通常发生在图形界面的事件循环已经结束，但代码仍尝试更新或操作界面元素时。

最后的 "Tcl_AsyncDelete: async handler deleted by the wrong thread" 错误进一步表明了线程之间的交互问题。在使用多线程编程时，尤其是涉及图形用户界面时，不同的线程需要正确地管理和同步，否则可能会导致此类错误。

JIANG-CX commented 6 months ago

在运行提供的bag时候的报错吗

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发件人: Mingzhe LV @.> 发送时间: Tuesday, January 23, 2024 10:55:56 AM 收件人: SYSU-STAR/H2-Mapping @.> 抄送: Subscribed @.***> 主题: [SYSU-STAR/H2-Mapping] 运行FULL SLAM系统结束时遇到报错 (Issue #27)

该错误是发生在下达rosnode kill -a指令之后， 仅在运行FULL SLAM系统时候才有，在运行纯mapping线程的时候没有报错。 mesh可以提取出来，似乎也不是一个致命的错误。但我有点好奇能不能有什么思路解决这个问题？

idx: 21 idx: 22 idx: 23 idx: 24 idx: 25 idx: 26 idx: 27 idx: 28 idx: 29 idx: 30 shutdown request: user request mapping process died ** post-processing 0 steps ** extracting final mesh ** get color from network ** mapping process died Exception ignored in: <function Image.del at 0xfffee2a34af0> Traceback (most recent call last): File "/home/hello/mambaforge/envs/h2mapping/lib/python3.8/tkinter/init.py", line 4017, in del self.tk.call('image', 'delete', self.name) RuntimeError: main thread is not in main loop Exception ignored in: <function Variable.del at 0xfffee2a1a1f0> Traceback (most recent call last): File "/home/hello/mambaforge/envs/h2mapping/lib/python3.8/tkinter/init.py", line 363, in del if self._tk.getboolean(self._tk.call("info", "exists", self._name)): RuntimeError: main thread is not in main loop Exception ignored in: <function Variable.del at 0xfffee2a1a1f0> Traceback (most recent call last): File "/home/hello/mambaforge/envs/h2mapping/lib/python3.8/tkinter/init.py", line 363, in del if self._tk.getboolean(self._tk.call("info", "exists", self._name)): RuntimeError: main thread is not in main loop Exception ignored in: <function Variable.del at 0xfffee2a1a1f0> Traceback (most recent call last): File "/home/hello/mambaforge/envs/h2mapping/lib/python3.8/tkinter/init.py", line 363, in del if self._tk.getboolean(self._tk.call("info", "exists", self._name)): RuntimeError: main thread is not in main loop Exception ignored in: <function Variable.del at 0xfffee2a1a1f0> Traceback (most recent call last): File "/home/hello/mambaforge/envs/h2mapping/lib/python3.8/tkinter/init.py", line 363, in del if self._tk.getboolean(self._tk.call("info", "exists", self._name)): RuntimeError: main thread is not in main loop Exception ignored in: <function Image.del at 0xfffee2a34af0> Traceback (most recent call last): File "/home/hello/mambaforge/envs/h2mapping/lib/python3.8/tkinter/init.py", line 4017, in del self.tk.call('image', 'delete', self.name) RuntimeError: main thread is not in main loop Exception ignored in: <function Variable.del at 0xfffee2a1a1f0> Traceback (most recent call last): File "/home/hello/mambaforge/envs/h2mapping/lib/python3.8/tkinter/init.py", line 363, in del if self._tk.getboolean(self._tk.call("info", "exists", self._name)): RuntimeError: main thread is not in main loop Exception ignored in: <function Variable.del at 0xfffee2a1a1f0> Traceback (most recent call last): File "/home/hello/mambaforge/envs/h2mapping/lib/python3.8/tkinter/init.py", line 363, in del if self._tk.getboolean(self._tk.call("info", "exists", self._name)): RuntimeError: main thread is not in main loop Exception ignored in: <function Variable.del at 0xfffee2a1a1f0> Traceback (most recent call last): File "/home/hello/mambaforge/envs/h2mapping/lib/python3.8/tkinter/init.py", line 363, in del if self._tk.getboolean(self._tk.call("info", "exists", self._name)): RuntimeError: main thread is not in main loop Exception ignored in: <function Variable.del at 0xfffee2a1a1f0> Traceback (most recent call last): File "/home/hello/mambaforge/envs/h2mapping/lib/python3.8/tkinter/init.py", line 363, in del if self._tk.getboolean(self._tk.call("info", "exists", self._name)): RuntimeError: main thread is not in main loop Tcl_AsyncDelete: async handler deleted by the wrong thread Aborted (core dumped)

我问了chatGPT, 大概的解释是关闭其他窗口时候发现已经结束。 以下是chatGPT的解释： 错误与 Python 中的 tkinter 库相关，这是一个用于创建图形用户界面的库。具体错误信息说明在对象的析构函数（del）中，尝试与图形用户界面的主线程进行交互时出现了问题。报错 "RuntimeError: main thread is not in main loop" 表明主线程不在主循环中，这通常发生在图形界面的事件循环已经结束，但代码仍尝试更新或操作界面元素时。

最后的 "Tcl_AsyncDelete: async handler deleted by the wrong thread" 错误进一步表明了线程之间的交互问题。在使用多线程编程时，尤其是涉及图形用户界面时，不同的线程需要正确地管理和同步，否则可能会导致此类错误。

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lvmingzhe commented 6 months ago

刚才试了一下，运行官方提供的bag结束时不报错。。。

lvmingzhe commented 6 months ago

定位出问题了，在/mapping/configs/realsense/realsense.yaml 最后一段这样设置的话就会报错前边的错误

debug_args:
  verbose: True
  mesh_freq: -1
  render_freq: 10
  save_ckpt_freq: -1
  render_res: [ 320, 240 ]

默认状态下不会报错，其状态是

debug_args:
  verbose: false
  mesh_freq: -1
  render_freq: -1
  save_ckpt_freq: -1
  render_res: [ 320, 240 ]
JIANG-CX commented 6 months ago

可以在render_debug_images函数中设置断点看下是哪里出的问题