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S-PTAM: Stereo Parallel Tracking and Mapping
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rosplay kitti_04 error,need help #48

Closed aiyanxiao closed 2 years ago

aiyanxiao commented 4 years ago

roslaunch sptam kitti.launch ... logging to /home/cvg/.ros/log/4323bc3c-e44d-11ea-a471-84ef18a6a32e/roslaunch-cvg-L-8280.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://cvg-L:35826/

SUMMARY

PARAMETERS

NODES / sptam (sptam/sptam_node) sptam_path (ros_utils/pose_to_path) start_broadcaster (tf2_ros/static_transform_publisher)

ROS_MASTER_URI=http://localhost:11311

process[start_broadcaster-1]: started with pid [8297] process[sptam_path-2]: started with pid [8298] process[sptam-3]: started with pid [8306] [ INFO] [1598083334.440576321]: Initializing nodelet with 8 worker threads. crossCheck: 0 OpenCV: threads set to -1 nfeatures: 1000 qualityLevel: 0.01 minDistance: 15 blockSize: 3 useHarrisDetector: 0 k: 0.04 nfeatures: 1000 qualityLevel: 0.01 minDistance: 15 blockSize: 3 useHarrisDetector: 0 k: 0.04 bytes: 32 use_orientation: 0 bytes: 32 use_orientation: 0 [ INFO] [1598083334.617317674]: S-PTAM stereo node initialized. [ INFO] [1598083342.286254159, 1385799339.561438617]: init calib [ INFO] [1598083342.286648398, 1385799339.561438617]: baseline: 0.537151 [ INFO] [1598083342.325401229, 1385799339.565474172]: Trying to intialize map... [ INFO] [1598083342.346033684, 1385799339.567491247]: Map initialized with 137 points. [sptam-3] process has died [pid 8306, exit code -11, cmd /home/cvg/catkin_ws/devel/lib/sptam/sptam_node /stereo/left/image_rect:=/kitti_stereo/left/image_rect /stereo/right/image_rect:=/kitti_stereo/right/image_rect /stereo/left/camera_info:=/kitti_stereo/left/camera_info /stereo/right/camera_info:=/kitti_stereo/right/camera_info name:=sptam log:=/home/cvg/.ros/log/4323bc3c-e44d-11ea-a471-84ef18a6a32e/sptam-3.log]. log file: /home/cvg/.ros/log/4323bc3c-e44d-11ea-a471-84ef18a6a32e/sptam-3*.log

I meet this problem , I am a new for ROS, could you help me with this problem, please?

taihup commented 4 years ago

Hi, sorry for the late reply. Some questions for you: Are you working on Ubuntu 16.04? Which eigen version are you using? Have you try to use standalone version disabling Loop-Closure?

aiyanxiao commented 4 years ago

Hi, sorry for the late reply. Some questions for you: Are you working on Ubuntu 16.04? Which eigen version are you using? Have you try to use standalone version disabling Loop-Closure?

Thanks for your reply! Yes, it is. The eigen is 3.3.7. I have try to use standalone version disabling Loop-Closure, but it is still not done. What could I do to solve this problem, please?

taihup commented 4 years ago

This issue is related: #47 , copying here a comment that could be useful

Currently, there is a known bug related memory linearization related to eigen. The workaround is to use the eigen version 3.2.10. You should remove any other eigen installed and recompile all the S-PTAM dependencies with the 3.2.10 (opencv, g2o, etc).

Give it a shot and let me know.