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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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Problem of reading dataset file path #6

Closed shanpenghui closed 4 years ago

shanpenghui commented 4 years ago

I try to run the example of mono_inertial_tum_vi, but error come out when start the .sh file.

The data is Euroc / DSO 512x512 dataset link :

http://vision.in.tum.de/tumvi/exported/euroc/512_16/dataset-room4_512_16.tar

The error like below:

sph@sph-System-Product-Name:~/Documents/ORB_SLAM3$ ./tum_vi.sh 
Launching Room 4 with Monocular-Inertial sensor
num_seq = 1
file name: dataset-room4_512_monoi
Loading images for sequence 0.../home/sph/Downloads/dataset-room4_512_16/mav0/cam0/data
Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room4_512.txt
LOADED!
Loading IMU for sequence 0...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-Inertial

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: dataset-room4_512_monoi

Camera Parameters: 
- fx: 190.97846984863281
- fy: 190.97331237792969
- cx: 254.93170166015625
- cy: 256.89743041992188
- bf: 0
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- k3: -0.0020532361231744289
- fps: 20
- color order: RGB (ignored if grayscale)

ORB Extractor Parameters: 
- Number of Features: 1500
- Scale Levels: 8
- Scale Factor: 1.2000000476837158
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7

Left camera to Imu Transform (Tbc): 
[-0.99952501, 0.0075019184, -0.029890131, 0.045574836;
 0.029615344, -0.03439736, -0.99896932, -0.071161799;
 -0.008522328, -0.99938005, 0.034158852, -0.044681255;
 0, 0, 0, 1]

IMU frequency: 200 Hz
IMU gyro noise: 0.00015999999595806003 rad/s/sqrt(Hz)
IMU gyro walk: 2.2000000171829015e-05 rad/s^2/sqrt(Hz)
IMU accelerometer noise: 0.00279999990016222 m/s^2/sqrt(Hz)
IMU accelerometer walk: 0.00085999997099861503 m/s^3/sqrt(Hz)

.pnged to load image at: /home/sph/Downloads/dataset-room4_512_16/mav0/cam0/data/1520531124150444163
./tum_vi.sh: line 17: 11368 Segmentation fault      (core dumped) ./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room4_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-room4_512.txt dataset-room4_512_monoi
sph@sph-System-Product-Name:~/Documents/ORB_SLAM3$ ./tum_vi.sh 
Launching Room 4 with Monocular-Inertial sensor
num_seq = 1
file name: dataset-room4_512_monoi
Loading images for sequence 0.../home/sph/Downloads/dataset-room4_512_16/mav0/cam0/data
Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room4_512.txt
LOADED!
Loading IMU for sequence 0...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-Inertial

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: dataset-room4_512_monoi

Camera Parameters: 
- fx: 190.97846984863281
- fy: 190.97331237792969
- cx: 254.93170166015625
- cy: 256.89743041992188
- bf: 0
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- k3: -0.0020532361231744289
- fps: 20
- color order: RGB (ignored if grayscale)

ORB Extractor Parameters: 
- Number of Features: 1500
- Scale Levels: 8
- Scale Factor: 1.2000000476837158
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7

Left camera to Imu Transform (Tbc): 
[-0.99952501, 0.0075019184, -0.029890131, 0.045574836;
 0.029615344, -0.03439736, -0.99896932, -0.071161799;
 -0.008522328, -0.99938005, 0.034158852, -0.044681255;
 0, 0, 0, 1]

IMU frequency: 200 Hz
IMU gyro noise: 0.00015999999595806003 rad/s/sqrt(Hz)
IMU gyro walk: 2.2000000171829015e-05 rad/s^2/sqrt(Hz)
IMU accelerometer noise: 0.00279999990016222 m/s^2/sqrt(Hz)
IMU accelerometer walk: 0.00085999997099861503 m/s^3/sqrt(Hz)

.pnged to load image at: /home/sph/Downloads/dataset-room4_512_16/mav0/cam0/data/1520531124150444163
./tum_vi.sh: line 17: 11882 Segmentation fault      (core dumped) ./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room4_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-room4_512.txt dataset-room4_512_monoi

The tum_vi.sh file is 

#!/bin/bash
pathDatasetTUM_VI='/home/sph/Downloads' #Example, it is necesary to change it by the dataset path
#------------------------------------
# Monocular-Inertial Examples
echo "Launching Room 4 with Monocular-Inertial sensor"
./Examples/Monocular-Inertial/mono_inertial_tum_vi Vocabulary/ORBvoc.txt Examples/Monocular-Inertial/TUM_512.yaml "$pathDatasetTUM_VI"/dataset-room4_512_16/mav0/cam0/data Examples/Monocular-Inertial/TUM_TimeStamps/dataset-room4_512.txt Examples/Monocular-Inertial/TUM_IMU/dataset-room4_512.txt dataset-room4_512_monoi

The exec file is in the git

https://github.com/shanpenghui/my_orbslam3.git

Thanks for helping.

richard-elvira commented 4 years ago

We cannot replicate this bug, it works properly in our computers.

Studenthc commented 4 years ago

I have the same problem, tested on dataset-corridor1_512_16,i found that the picture name of dataset-corridor1_512.txt can not match file name of picture folder(data).I change the path cam0 to cam1,it work.Have a try!

shanpenghui commented 4 years ago

I have the same problem, tested on dataset-corridor1_512_16,i found that the picture name of dataset-corridor1_512.txt can not match file name of picture folder(data).I change the path cam0 to cam1,it work.Have a try!

I solve the problems by adding a function like below, before vstrImages.push_back 

string lltoString(string &input)
{
    string result;
    ostringstream ss;
    ss << input;
    istringstream is(ss.str());
    is >> result;
    return result;
}

And then:

            stringstream ss;
            string rlt = lltoString(s);
            string pre = strImagePath + "/";
            rlt += ".png";
            string fi = pre + rlt;
            //cout << fi << endl;
            vstrImages.push_back(fi);
hzm8341 commented 4 years ago

change the code by follow:

string lltoString(string &input)

{

string result;

ostringstream ss;

ss << input;

istringstream is(ss.str());

is >> result;

return result;

}

void LoadImages(const string &strImagePath, const string &strPathTimes,

            vector<string> &vstrImages, vector<double> &vTimeStamps)

{

ifstream fTimes;

fTimes.open(strPathTimes.c_str());

vTimeStamps.reserve(5000);

vstrImages.reserve(5000);

while(!fTimes.eof())

{

    string s;

    getline(fTimes,s);

    if(!s.empty())

    {

        stringstream ss;

        ss << s;

        string rlt = lltoString(s);

        string pre = strImagePath + "/";

        rlt += ".png";

        string fi = pre + rlt;

        //cout << fi << endl;

        vstrImages.push_back(fi);

        double t;

        ss >> t;

        vTimeStamps.push_back(t/1e9);

    }

}

}