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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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fatal error occurred when using rtabmap.exe #91

Closed lynnsky closed 8 years ago

lynnsky commented 8 years ago

I use rtabmap.exe to test loop closure.When using dataset Lip6 Indoor and Lip6 Outdoor,I get right results.But dataset New College occured error when processing image id is around 650.I don't know why this happen.My rtabmap version is 0.11.7. g4rgo07 n fu dj 10 nmdy 8gus7 uhw3gv0 h k

matlabbe commented 8 years ago

Bug reproduced on 0.11.7 Windows binaries:

[DEBUG] (2016-07-04 12:28:33) Memory.cpp:3824::rtabmap::Memory::reactivateSignatures()
[ INFO] (2016-07-04 12:28:33) Memory.cpp:3835::rtabmap::Memory::reactivateSignatures() Loading location 2 from database...
[ INFO] (2016-07-04 12:28:33) Memory.cpp:3835::rtabmap::Memory::reactivateSignatures() Loading location 1 from database...
[DEBUG] (2016-07-04 12:28:33) Memory.cpp:3840::rtabmap::Memory::reactivateSignatures() idsToLoad = 2
[DEBUG] (2016-07-04 12:28:33) DBDriver.cpp:419::rtabmap::DBDriver::loadSignatures()
[DEBUG] (2016-07-04 12:28:33) DBDriver.cpp:459::rtabmap::DBDriver::loadSignatures()
[DEBUG] (2016-07-04 12:28:33) DBDriverSqlite3.cpp:1593::rtabmap::DBDriverSqlite3::loadSignaturesQuery() count=2
[DEBUG] (2016-07-04 12:28:33) Camera.cpp:87::rtabmap::Camera::takeImage() slept=0.199999s vs target=0.200000s
[DEBUG] (2016-07-04 12:28:33) CameraRGB.cpp:477::rtabmap::CameraImages::captureImage()
[DEBUG] (2016-07-04 12:28:33) DBDriverSqlite3.cpp:1687::rtabmap::DBDriverSqlite3::loadSignaturesQuery() Creating 2 (map=0, pose=xyz=[null] rpy=[null])
[DEBUG] (2016-07-04 12:28:33) DBDriverSqlite3.cpp:1687::rtabmap::DBDriverSqlite3::loadSignaturesQuery() Creating 1 (map=0, pose=xyz=[null] rpy=[null])
[DEBUG] (2016-07-04 12:28:33) CameraRGB.cpp:557::rtabmap::CameraImages::captureImage() Loading image : D:/NewCollege/60.jpg
[DEBUG] (2016-07-04 12:28:33) DBDriverSqlite3.cpp:1714::rtabmap::DBDriverSqlite3::loadSignaturesQuery() Time=0.004899s
[DEBUG] (2016-07-04 12:28:33) DBDriverSqlite3.cpp:1817::rtabmap::DBDriverSqlite3::loadSignaturesQuery() Add 400 keypoints, 400 3d points and 400 descriptors to node 2
[DEBUG] (2016-07-04 12:28:33) DBDriverSqlite3.cpp:1817::rtabmap::DBDriverSqlite3::loadSignaturesQuery() Add 400 keypoints, 400 3d points and 400 descriptors to node 1
[DEBUG] (2016-07-04 12:28:33) DBDriverSqlite3.cpp:1829::rtabmap::DBDriverSqlite3::loadSignaturesQuery() Time=0.009483s
[DEBUG] (2016-07-04 12:28:33) Signature.cpp:118::rtabmap::Signature::addLink() Add link 1 to 2 (type=0)
[DEBUG] (2016-07-04 12:28:33) Signature.cpp:118::rtabmap::Signature::addLink() Add link 3 to 2 (type=0)
[DEBUG] (2016-07-04 12:28:33) DBDriverSqlite3.cpp:2424::rtabmap::DBDriverSqlite3::loadLinksQuery() time=0.002483s, node=2, links.size=2
[DEBUG] (2016-07-04 12:28:33) Signature.cpp:118::rtabmap::Signature::addLink() Add link 2 to 1 (type=0)
[DEBUG] (2016-07-04 12:28:33) DBDriverSqlite3.cpp:2424::rtabmap::DBDriverSqlite3::loadLinksQuery() time=0.002463s, node=1, links.size=1
[DEBUG] (2016-07-04 12:28:33) DBDriverSqlite3.cpp:1836::rtabmap::DBDriverSqlite3::loadSignaturesQuery() Time load links=0.007428s
[DEBUG] (2016-07-04 12:28:33) DBDriverSqlite3.cpp:1908::rtabmap::DBDriverSqlite3::loadSignaturesQuery() Loading calibration for 1 cameras (72 bytes)
[FATAL] (2016-07-04 12:28:33) CameraModel.cpp:76::rtabmap::CameraModel::CameraModel() Condition (fx > 0.0) not met! [fx=0.000000]

On retrieval, the code tries to load an empty calibration from the database, which causes the fatal error.

The commit above fixes the problem for the next release 0.11.8.

Workarounds for the current release 0.11.7:

  1. Use rtabmap-console.exe instead of RTAB-Map.exe. If you are benhmarking, it is the easiest way to setup the parameters for each dataset. See Benchmark page for more info.
  2. To make RTAB-Map.exe avoiding the error, add a fake calibration file. In Preferences -> Source, click on Create Calibration, set fx and fy to 1, then save the calibration to calib.yaml (default). Back to Source panel, set Calibration file path to calib.
lynnsky commented 8 years ago

OK.Thanks for your help