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VIS4ROB-lab / ccm_slam

CCM-SLAM: Robust and Efficient Centralized Collaborative Monocular SLAM for Robotic Teams
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error: (-215:Assertion failed) !_src.empty() in function 'cvtColor' #62

Closed TwiceMao closed 10 months ago

TwiceMao commented 1 year ago

I meet this error，how could I solve it？

[ccmslam/ccmslamClientNode1-2] process has died [pid 999291, exit code -6, cmd /media/zrr/B6DC2D32DC2CEE75/maomao/ccmslam_ws/devel/lib/ccmslam/ccmslamClientNode /media/zrr/B6DC2D32DC2CEE75/maomao/ccmslam_ws/src/ccm_slam/cslam/conf/ORBvoc.txt /media/zrr/B6DC2D32DC2CEE75/maomao/ccmslam_ws/src/ccm_slam/cslam/conf/replica_vi_euroc.yaml name:=ccmslamClientNode1 log:=/home/zrr/.ros/log/991423c8-f2e8-11ed-b628-ed28cb613320/ccmslam-ccmslamClientNode1-2.log]. log file: /home/zrr/.ros/log/991423c8-f2e8-11ed-b628-ed28cb613320/ccmslam-ccmslamClientNode1-2*.log

1684132677111 1684132716207

patriksc commented 1 year ago

Hi! According to the error message, you are using OpenCV 4. We have only tested CCM-SLAM with OpenCV 2 and 3, and since the error comes from an OpenCV call, that's very likely the root cause here. I would recommend to link against OpenCV 3, that should solve the problem.

Alternatively, you could look into the debug information with gbd, and try to fix the problem locally s that it works with OpenCV 4.

I would also recommend to double-check with ldd that the CCM-SLAM executable does not link against 2 OpenCV versions (e.g. 3.x and 4.x) - this can happen if you have e.g. a system wide version of OpenCV and one in the workspace. This needs to be resolved then, because it causes CCM-SLAM to crash.

patriksc commented 10 months ago

Closed - inactive