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UZ-SLAMLab / ORB_SLAM3

ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM
GNU General Public License v3.0
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tum_vi_examples.sh hangs on room scene, shows black window waiting for images on Linux Ubuntu 18.04.5 LTS #419

Open brianm-sra opened 3 years ago

brianm-sra commented 3 years ago

Hello, I am trying to run ORB_SLAM3 examples on Linux Ubuntu 18.04.5 LTS

I was able to successfully build lib/libORB_SLAM3.so

I was able to successfully run the example scripts euroc_examples.sh and euroc_eval_examples.sh (although I have one question about how to find the computed numerical values of ATE and RPE used to create the graphs in the PDF output files).

But now my main problem is when trying to run tum_vi_examples.sh

I did these steps:

  1. downloaded the TUM-VI files to local directory /home/myUsername/Downloads/datasets/TUM_VI : dataset-room1_512_16.tar, dataset-room2_512_16.tar, dataset-room3_512_16.tar, dataset-room4_512_16.tar, dataset-room5_512_16.tar, dataset-room6_512_16.tar
  2. ran the tar xvf commands to expand these to subdirectories dataset-room1_512_16, dataset-room2_512_16, dataset-room3_512_16, dataset-room4_512_16, dataset-room5_512_16, dataset-room6_512_16
  3. cd /home/myUsername/src/ORB_SLAM3/Examples
  4. edited tum_vi_examples.sh and (a) set value of variable pathDatasetTUM_VI='/home/myUsername/Downloads/datasets/TUM_VI' and (b) commented out lines referring to non-room datasets which I didn't download yet, leaving the lines about room1 - room6 uncommented to be used
  5. `$ ./tum_vi_examples.sh Launching Room 1 with Monocular sensor num_seq = 1 file name: dataset-room1_512_mono Loading images for sequence 0.../home/myUsername/Downloads/datasets/TUM_VI/dataset-room1_512_16/mav0/cam0/data Monocular/TUM_TimeStamps/dataset-room1_512.txt LOADED!

ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it under certain conditions. See LICENSE.txt.

Input sensor was set to: Monocular

Loading ORB Vocabulary. This could take a while... Vocabulary loaded!

Creation of new map with id: 0 Creation of new map with last KF id: 0 Seq. Name:

Camera Parameters:

ORB Extractor Parameters:

It launches two windows:

  1. one is "ORB-SLAM3 Map Viewer", with options on left (Follow Camera, Camera View, Top View, Show Points, Show KeyFrames, Show Graph, Show Inertial Graph, Localization Mode, Reset) and white area to right with small green icon (rectangle with X)
  2. other is "ORB-SLAM3: Current Frame" with all black except for message at bottom "WAITING FOR IMAGES"

The windows stay in this state forever as far as I can tell. I tried it a few times this week, and even left it running over night one night.

Any ideas ?

When I ran previously with EuRoC, I could see things working as expected (visuals seen in the windows) but not for TUM-VI

brianm-sra commented 3 years ago

I downloaded the "corridor" data sets, and modifed the script to start with those, and it seems to be working now with at least one of those corridor sets. Interesting.

brianm-sra commented 3 years ago

There still seem to be issues getting the tum-vi "room" scenes to work

brianm-sra commented 3 years ago

I realized later that it did actually generate these files:

-rw-rw-r-- 1 b1.miller b1.miller 307709 Oct 29 12:10 f_dataset-room1_512_stereoi.txt
-rw-rw-r-- 1 b1.miller b1.miller 314388 Oct 29 12:14 f_dataset-room2_512_stereoi.txt
-rw-rw-r-- 1 b1.miller b1.miller 312089 Oct 29 12:19 f_dataset-room3_512_stereoi.txt
-rw-rw-r-- 1 b1.miller b1.miller 242385 Oct 29 12:22 f_dataset-room4_512_stereoi.txt
-rw-rw-r-- 1 b1.miller b1.miller 318183 Oct 29 12:26 f_dataset-room5_512_stereoi.txt
-rw-rw-r-- 1 b1.miller b1.miller 297024 Oct 29 12:30 f_dataset-room6_512_stereoi.txt
-rw-rw-r-- 1 b1.miller b1.miller   8342 Oct 29 12:10 kf_dataset-room1_512_stereoi.txt
-rw-rw-r-- 1 b1.miller b1.miller   8442 Oct 29 12:14 kf_dataset-room2_512_stereoi.txt
-rw-rw-r-- 1 b1.miller b1.miller   8408 Oct 29 12:19 kf_dataset-room3_512_stereoi.txt
-rw-rw-r-- 1 b1.miller b1.miller   7537 Oct 29 12:22 kf_dataset-room4_512_stereoi.txt
-rw-rw-r-- 1 b1.miller b1.miller   8317 Oct 29 12:26 kf_dataset-room5_512_stereoi.txt
-rw-rw-r-- 1 b1.miller b1.miller   7966 Oct 29 12:30 kf_dataset-room6_512_stereoi.txt