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app_tracking : Optimize3dPoints takes too long ... #40

Open johnjin404 opened 5 years ago

johnjin404 commented 5 years ago

when i run app_tracking around the building, sometimes it works,,,but also got something wrong.

E0312 13:23:26.400254 19484 bundle_adjuster.cc:1601] Optimize3dPoints takes too long (overall) 118 ms map points # 59111 add_constraints_ms 110 ceres_solution_ms 7 save_result_ms 0 remove_outlier_ms 0

ubuntu 16.04 Intel® Core™ i7-7600U CPU @ 2.80GHz × 4

here is my command and log file.

./app_tracking -sensor_type XP2 -calib_file calib.yaml -record_map_only -record_path /home/ling/XP_release/boteye/apps/build/app_tracking/tmp/

app_tracking.ling-ThinkPad-X1-Carbon-5th.ling.log.WARNING.20190312-131629.log

zhoubonan commented 5 years ago

me too and i can't save map by .......-record_map_only -record_path ~/boteye/room.pb

johnjin404 commented 5 years ago

i think that "path" needs an empty folder, u can try it.

zhoubonan commented 5 years ago

emm..the result is same..

mingyux commented 5 years ago

This message should actually be WARNING instead ERROR. It basically says the Optimize3dPoints took too long, but nothing harmful happened. I'll close this issue for now.

johnjin404 commented 5 years ago

but the tracking program would suddenly exit without any map saved when this error(or warning) occurs. is there any running condition to avoid this problem? cause i am running it outdoors, and there was a car going across... sorry to bother, considering the problem is serious, could u tell me how to avoid this??thank u.

mingyux commented 5 years ago

By "suddenly exit", do you mean app_tracking core dump / segfault? If app_tracking crashes, it will not reach the map saving part. Ideally, this should NOT happen.
Can you try the pre-built bin/app_tracking binary?

johnjin404 commented 5 years ago

yeah, it would crash just like the LOG file described above E0312 13:23:29.036715 19484 bundle_adjuster.cc:1601] Optimize3dPoints takes too long (overall) 125 ms map points # 59541 add_constraints_ms 116 ceres_solution_ms 8 save_result_ms 0 remove_outlier_ms 0 , but most times works fine, i will try more times to find out what happened... BY THE WAY, is there any ROS version of the "app_tracking" program?? thanks~

zhoubonan commented 5 years ago

@johnjin404 你好，我在更新的wiki上看到说guide_receiver被弃用了..是UDP方式现在也无法用了吗？你用的是什么方式接收导航信息呢？打扰了

mingyux commented 5 years ago

@johnjin404 The ROS version is NOT included in the free version. Please contact us at https://ai.baidu.com/solution/roboticvision.