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chichengcn / gici-open

GNSS/INS/Camera Integrated Navigation Library
GNU General Public License v3.0
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GICI编译可以通过，但跑数据时报错 #24

Closed quangWHU closed 7 months ago

quangWHU commented 7 months ago

报错信息如下： I20231108 09:49:40.058630 3857 streamer.cpp:118] FileStreamer: Unable to load enable_time_tag. Using default instead. I20231108 09:49:40.058671 3857 streamer.cpp:119] FileStreamer: Unable to load swap_interval. Using default instead. I20231108 09:49:40.058686 3857 formator.cpp:314] loadStartTime: Unable to load start_time. Using default instead. I20231108 09:49:40.061440 3857 streaming.cpp:104] str_gnss_rov: Unable to load buffer length! Using default instead. I20231108 09:49:40.061455 3857 streaming.cpp:119] str_gnss_rov: Unable to load loop duration! Using default instead. I20231108 09:49:40.061515 3857 streamer.cpp:118] FileStreamer: Unable to load enable_time_tag. Using default instead. I20231108 09:49:40.061519 3857 streamer.cpp:119] FileStreamer: Unable to load swap_interval. Using default instead. I20231108 09:49:40.064472 3857 streaming.cpp:104] str_gnss_ref: Unable to load buffer length! Using default instead. I20231108 09:49:40.064483 3857 streaming.cpp:119] str_gnss_ref: Unable to load loop duration! Using default instead. I20231108 09:49:40.064508 3857 streamer.cpp:118] FileStreamer: Unable to load enable_time_tag. Using default instead. I20231108 09:49:40.064512 3857 streamer.cpp:119] FileStreamer: Unable to load swap_interval. Using default instead. I20231108 09:49:40.067417 3857 streaming.cpp:104] str_gnss_eph: Unable to load buffer length! Using default instead. I20231108 09:49:40.067430 3857 streaming.cpp:119] str_gnss_eph: Unable to load loop duration! Using default instead. I20231108 09:49:40.067463 3857 streamer.cpp:119] FileStreamer: Unable to load swap_interval. Using default instead. I20231108 09:49:40.067471 3857 streaming.cpp:104] str_dcb_file: Unable to load buffer length! Using default instead. I20231108 09:49:40.067474 3857 streaming.cpp:119] str_dcb_file: Unable to load loop duration! Using default instead. I20231108 09:49:40.067483 3857 streamer.cpp:118] FileStreamer: Unable to load enable_time_tag. Using default instead. I20231108 09:49:40.067487 3857 streamer.cpp:119] FileStreamer: Unable to load swap_interval. Using default instead. I20231108 09:49:40.067497 3857 streaming.cpp:104] str_imu: Unable to load buffer length! Using default instead. I20231108 09:49:40.067519 3857 streamer.cpp:118] FileStreamer: Unable to load enable_time_tag. Using default instead. I20231108 09:49:40.067523 3857 streamer.cpp:119] FileStreamer: Unable to load swap_interval. Using default instead. I20231108 09:49:40.067530 3857 formator.cpp:749] ImagePackFormator: Unable to load step. Using default instead. I20231108 09:49:40.067544 3857 streaming.cpp:119] str_camera: Unable to load loop duration! Using default instead. I20231108 09:49:40.067557 3857 streamer.cpp:119] FileStreamer: Unable to load swap_interval. Using default instead. I20231108 09:49:40.067562 3857 formator.cpp:921] NmeaFormator: Unable to load use_gga. Using default instead. I20231108 09:49:40.067565 3857 formator.cpp:922] NmeaFormator: Unable to load use_rmc. Using default instead. I20231108 09:49:40.067569 3857 formator.cpp:924] NmeaFormator: Unable to load use_esd. Using default instead. I20231108 09:49:40.067574 3857 streaming.cpp:104] str_rrr_solution_file: Unable to load buffer length! Using default instead. I20231108 09:49:40.067576 3857 streaming.cpp:119] str_rrr_solution_file: Unable to load loop duration! Using default instead. I20231108 09:49:40.067603 3857 formator.cpp:921] NmeaFormator: Unable to load use_gga. Using default instead. I20231108 09:49:40.067607 3857 formator.cpp:922] NmeaFormator: Unable to load use_rmc. Using default instead. I20231108 09:49:40.067612 3857 streaming.cpp:104] str_solution_stream: Unable to load buffer length! Using default instead. I20231108 09:49:40.067616 3857 streaming.cpp:119] str_solution_stream: Unable to load loop duration! Using default instead. I20231108 09:49:40.067668 3857 option.cpp:622] loadOptions: Unable to load force_initial_global_position. Using default instead. I20231108 09:49:40.067672 3857 option.cpp:623] loadOptions: Unable to load log_intermediate_data. Using default instead. I20231108 09:49:40.067677 3857 option.cpp:624] loadOptions: Unable to load log_intermediate_data_directory. Using default instead. I20231108 09:49:40.067683 3857 option.cpp:658] Unable to load initial_global_position. Using default instead. I20231108 09:49:40.067693 3857 option.cpp:671] loadOptions: Unable to load good_observation_min_num_satellites. Using default instead. I20231108 09:49:40.067696 3857 option.cpp:672] loadOptions: Unable to load good_observation_max_gdop. Using default instead. I20231108 09:49:40.067699 3857 option.cpp:673] loadOptions: Unable to load good_observation_max_reject_ratio. Using default instead. I20231108 09:49:40.067703 3857 option.cpp:674] loadOptions: Unable to load reset_ambiguity_min_num_continuous_unfix. Using default instead. I20231108 09:49:40.067708 3857 option.cpp:675] loadOptions: Unable to load diverge_max_reject_ratio. Using default instead. I20231108 09:49:40.067711 3857 option.cpp:676] loadOptions: Unable to load diverge_min_num_continuous_reject. Using default instead. I20231108 09:49:40.067718 3857 option.cpp:340] loadOptions: Unable to load min_num_satellite_redundancy. Using default instead. I20231108 09:49:40.067723 3857 option.cpp:341] loadOptions: Unable to load max_gdop. Using default instead. I20231108 09:49:40.067726 3857 option.cpp:342] loadOptions: Unable to load mw_slip_thres. Using default instead. I20231108 09:49:40.067729 3857 option.cpp:343] loadOptions: Unable to load gf_slip_thres. Using default instead. I20231108 09:49:40.067732 3857 option.cpp:344] loadOptions: Unable to load gf_sd_slip_thres. Using default instead. I20231108 09:49:40.067736 3857 option.cpp:345] loadOptions: Unable to load period. Using default instead. I20231108 09:49:40.067744 3857 option.cpp:395] Unable to load receiver_pco. Using default instead. I20231108 09:49:40.067754 3857 option.cpp:287] Unable to load gnss_error_parameter. Using default instead. I20231108 09:49:40.067756 3857 option.cpp:693] loadOptions: Unable to load use_outlier_rejection. Using default instead. I20231108 09:49:40.067759 3857 option.cpp:694] loadOptions: Unable to load max_position_error. Using default instead. I20231108 09:49:40.067763 3857 option.cpp:695] loadOptions: Unable to load max_velocity_error. Using default instead. I20231108 09:49:40.067766 3857 option.cpp:696] loadOptions: Unable to load diverge_min_num_continuous_reject. Using default instead. I20231108 09:49:40.067772 3857 option.cpp:705] loadOptions: Unable to load use_zupt. Using default instead. I20231108 09:49:40.067775 3857 option.cpp:706] loadOptions: Unable to load zupt_duration. Using default instead. I20231108 09:49:40.067778 3857 option.cpp:707] loadOptions: Unable to load zupt_max_acc_std. Using default instead. I20231108 09:49:40.067782 3857 option.cpp:708] loadOptions: Unable to load zupt_max_gyro_std. Using default instead. I20231108 09:49:40.067785 3857 option.cpp:709] loadOptions: Unable to load zupt_max_gyro_median. Using default instead. I20231108 09:49:40.067788 3857 option.cpp:710] loadOptions: Unable to load zupt_sigma_zero_velocity. Using default instead. I20231108 09:49:40.067795 3857 option.cpp:514] loadOptions: Unable to load a_max. Using default instead. I20231108 09:49:40.067797 3857 option.cpp:515] loadOptions: Unable to load g_max. Using default instead. I20231108 09:49:40.067806 3857 option.cpp:522] loadOptions: Unable to load rate. Using default instead. I20231108 09:49:40.067809 3857 option.cpp:523] loadOptions: Unable to load delay_imu_cam. Using default instead. I20231108 09:49:40.067821 3857 option.cpp:867] loadOptions: Unable to load max_frequency. Using default instead. I20231108 09:49:40.067826 3857 option.cpp:868] loadOptions: Unable to load diverge_max_reject_ratio. Using default instead. I20231108 09:49:40.067828 3857 option.cpp:869] loadOptions: Unable to load diverge_min_num_continuous_reject. Using default instead. I20231108 09:49:40.067832 3857 option.cpp:880] Unable to load camera_extrinsics_initial_std. Using default instead. I20231108 09:49:40.067844 3857 option.cpp:589] loadOptions: Unable to load max_pyramid_level. Using default instead. I20231108 09:49:40.067848 3857 option.cpp:590] loadOptions: Unable to load min_disparity_init_landmark. Using default instead. I20231108 09:49:40.067852 3857 option.cpp:591] loadOptions: Unable to load min_translation_init_landmark. Using default instead. I20231108 09:49:40.067857 3857 option.cpp:531] loadOptions: Unable to load max_level. Using default instead. I20231108 09:49:40.067860 3857 option.cpp:532] loadOptions: Unable to load min_level. Using default instead. I20231108 09:49:40.067864 3857 option.cpp:533] loadOptions: Unable to load border. Using default instead. I20231108 09:49:40.067867 3857 option.cpp:534] loadOptions: Unable to load threshold_primary. Using default instead. I20231108 09:49:40.067870 3857 option.cpp:535] loadOptions: Unable to load sampling_level. Using default instead. I20231108 09:49:40.067874 3857 option.cpp:536] loadOptions: Unable to load level. Using default instead. I20231108 09:49:40.067879 3857 option.cpp:537] loadOptions: Unable to load sec_grid_fineness. Using default instead. I20231108 09:49:40.067883 3857 option.cpp:538] loadOptions: Unable to load threshold_shitomasi. Using default instead. I20231108 09:49:40.067888 3857 option.cpp:287] Unable to load tracker. Using default instead. I20231108 09:49:40.067891 3857 option.cpp:564] loadOptions: Unable to load init_min_disparity. Using default instead. I20231108 09:49:40.067894 3857 option.cpp:565] loadOptions: Unable to load init_disparity_pivot_ratio. Using default instead. I20231108 09:49:40.067898 3857 option.cpp:566] loadOptions: Unable to load init_min_features. Using default instead. I20231108 09:49:40.067901 3857 option.cpp:567] loadOptions: Unable to load init_min_inliers. Using default instead. I20231108 09:49:40.067904 3857 option.cpp:568] loadOptions: Unable to load init_map_scale. Using default instead. I20231108 09:49:40.067909 3857 option.cpp:569] loadOptions: Unable to load reproj_error_thresh. Using default instead. F20231108 09:49:40.067970 3857 camera_geometry_base.cpp:75] Unable to load mask file. Check failure stack trace: @ 0x7f1f6b3fbce0 google::LogMessage::Fail() @ 0x7f1f6b3fb913 google::LogMessage::SendToLog() @ 0x7f1f6b3fb126 google::LogMessage::Flush() @ 0x7f1f6b3ff6fc google::LogMessageFatal::~LogMessageFatal() @ 0x7f1f6b4d1ec0 vk::cameras::CameraGeometryBase::loadMask() @ 0x7f1f6b4e1c33 vk::cameras::NCamera::loadFromYaml() @ 0x7f1f6b6cdb7d gici::option_tools::loadOptions<>() @ 0x7f1f6b9c2dbf gici::MultiSensorEstimating::MultiSensorEstimating() @ 0x7f1f6b72c0db gici::NodeHandle::NodeHandle() @ 0x55a960487c53 main @ 0x7f1f6af9b083 __libc_start_main @ 0x55a9604880ce _start @ (nil) (unknown) 已放弃 (核心已转储) 解决办法： 仔细检查后发现mask文件路径没有添加，添加后可以正常运行

chichengcn commented 7 months ago

LOG信息中，I开头的是INFO信息，无需关心。出问题一般检查W（WARN）、E（ERROR）、F（FATAL）开头的信息。

quangWHU commented 7 months ago

问题已经解决，谢谢池老师