std::bad_alloc error on NUC with ubuntu 18.04

snakehaihai commented 2 years ago

HI I`m encountering issue with the following error. can you help to address this?

nuc (master) build $ ./bin/dmvio_dataset files=/home/nuc/Desktop/dataset-corridor1_512_16/dso/cam0/images vignette=/home/nuc/Desktop/dataset-corridor1_512_16/dso/cam0/vignette.png imuFile=/home/nuc/Desktop/dataset-corridor1_512_16/dso/imu.txt gtFile=/home/nuc/Desktop/dataset-corridor1_512_16/dso/gt_imu.csv calib=/home/nuc/library/dm-vio/configs/tumvi_calib/camera02.txt gamma=/home/nuc/library/dm-vio/configs/tumvi_calib/pcalib.txt imuCalib=/home/nuc/library/dm-vio/configs/tumvi_calib/camchain.yaml mode=0 use16Bit=1 preset=0                                                 # use 1 for realtime nogui=1                                                         # use 1 to enable GUI resultsPrefix=/home/nuc/library/dm-vio/result/result settingsFile=/home/nuc/library/dm-vio/configs/tumvi.yaml start=2
loading data from /home/nuc/Desktop/dataset-corridor1_512_16/dso/cam0/images!
loading vignette from /home/nuc/Desktop/dataset-corridor1_512_16/dso/cam0/vignette.png!
IMU file is locatd at: /home/nuc/Desktop/dataset-corridor1_512_16/dso/imu.txt!
loading gtFile from /home/nuc/Desktop/dataset-corridor1_512_16/dso/gt_imu.csv!
loading calibration from /home/nuc/library/dm-vio/configs/tumvi_calib/camera02.txt!
loading gammaCalib from /home/nuc/library/dm-vio/configs/tumvi_calib/pcalib.txt!
Loading imu parameters from /home/nuc/library/dm-vio/configs/tumvi_calib/camchain.yaml!
Loading IMU parameter file at: /home/nuc/library/dm-vio/configs/tumvi_calib/camchain.yaml
Used T_cam_imu: 
  -0.999525   0.0296153 -0.00852233   0.0472799
 0.00750192  -0.0343974    -0.99938  -0.0474432
 -0.0298901   -0.998969   0.0341589     -0.0682
          0           0           0           1
Used noise values: 0.00447213 0.0014142 0.316227 0.1
PHOTOMETRIC MODE WITH CALIBRATION!

=============== PRESET Settings: ===============
DEFAULT settings:
- no  real-time enforcing
- 2000 active points
- 5-7 active frames
- 1-6 LM iteration each KF
- original image resolution
==============================================
Settings:
accelerometer_noise_density: 0.316227
accelerometer_random_walk: 0.00447213
addVisualToCoarseGraphIfTrackingBad: 0
alwaysCanBreakIMU: 0
baToCoarseAccBiasVariance: 1000
baToCoarseGyrBiasVariance: 0.05
baToCoarsePoseVariance: 0.1
baToCoarseRotVariance: 1
baToCoarseVelVariance: 0.1
dynamicWeightRMSEThresh: 8
fixKeyframeDuringCoarseTracking: 1
generalScaleIntervalSize: 60
gravityDirectionFixZ: 1
gyroscope_noise_density: 0.1
gyroscope_random_walk: 0.0014142
init_coarseScaleUncertaintyThresh: 1
init_conversionType: 0
init_disableVIOUntilFirstInit: 1
init_fixPoses: 1
init_initDSOParams: 1
init_lambdaLowerBound: 1e-16
init_maxNumPoses: 100
init_multipleBiases: 0
init_multithreadedInitDespiteNonRT: 0
init_onlyKFs: 1
init_pgba_conversionType: 0
init_pgba_delay: 100
init_pgba_prepareGraphAddDelValues: 0
init_pgba_prepareGraphAddFactors: 0
init_pgba_priorExtrinsicsRot: 0.01
init_pgba_priorExtrinsicsTrans: 0.1
init_pgba_priorGravityDirection: 0.4
init_pgba_priorGravityDirectionZ: 0.0001
init_pgba_reinitScaleUncertaintyThresh: 0.5
init_pgba_scaleUncertaintyThresh: 1
init_pgba_skipFirstKFs: 0
init_priorExtrinsicsRot: 0.01
init_priorExtrinsicsTrans: 0.1
init_priorGravityDirection: 0.4
init_priorGravityDirectionZ: 0.0001
init_priorRotSigma: 1e-05
init_priorTransSigma: 1e-05
init_requestFullResetErrorThreshold: -1
init_requestFullResetNormalizedErrorThreshold: -1
init_scalePriorAfterInit: 0
init_secondthreshGravdir: 1000
init_secondthreshScale: 1e+07
init_threshGravdir: 1000
init_threshScale: 1.02
init_transitionModel: 2
init_updatePoses: 1
integration_sigma: 0.316227
maxFrameEnergyThreshold: 5000
maxPreloadImages: 0
maxTimeBetweenInitFrames: 100000
numMeasurementsGravityInit: 40
preload: 0
priorExtrinsicsRot: 0.01
priorExtrinsicsTrans: 0.1
priorGravityDirection: 0.4
priorGravityDirectionZ: 0.0001
resultsPrefix: 
setting_forceNoKFTranslationThresh: 0
setting_maxOptIterations: 6
setting_minFramesBetweenKeyframes: -0.5
setting_minIdepth: 0.02
setting_minOptIterations: 1
setting_optGravity: 1
setting_optIMUExtrinsics: 0
setting_optScaleBA: 1
setting_prior_bias: 0
setting_prior_velocity: 0
setting_scaleFixTH: 0
setting_solverMode: 2048
setting_transferCovToCoarse: 1
setting_visualOnlyAfterScaleFixing: 0
setting_weightDSOCoarse: 0.001
setting_weightDSOToGTSAM: 1.66667e-05
setting_weightZeroPriorDSOInitX: 0
setting_weightZeroPriorDSOInitY: 0
skipFirstKeyframe: 1
transferCovToCoarseMultiplier: 1
updateDynamicWeightDuringOptimization: 1
use16Bit: 1
useScaleDiagonalHack: 0
Reading Calibration from file /home/nuc/library/dm-vio/configs/tumvi_calib/camera02.txt ... found!
Creating Equidistant undistorter
Input resolution: 512 512
In: EquiDistant 190.978477 190.973307 254.931706 256.897443 0.003482 0.000715 -0.002053 0.000203
Out: 0.200000 0.200000 0.499000 0.499000 0.000000
Output resolution: 512 512

Rectified Kamera Matrix:
  102.4       0 254.988
      0   102.4 254.988
      0       0       1

Reading Photometric Calibration from file /home/nuc/library/dm-vio/configs/tumvi_calib/pcalib.txt
Reading Vignette Image from /home/nuc/Desktop/dataset-corridor1_512_16/dso/cam0/vignette.png
Successfully read photometric calibration!
got 5990 images and 5990 timestamps and 5990 exposures.!
ImageFolderReader: got 5990 files in /home/nuc/Desktop/dataset-corridor1_512_16/dso/cam0/images!
Skipping comment line in IMU data.
IMU Id: 1520531829221612058
using pyramid levels 0 to 3. coarsest resolution: 64 x 64!
START PANGOLIN!
Using setting_minFramesBetweenKeyframes=0.5 because of non-realtime mode.
Switching to initializer state: CoarseIMUInit
PixelSelector: Using block sizes: 16, 16
Loading gt data
GTData distance (seconds): 0.000900458
terminate called after throwing an instance of 'std::bad_alloc'
  what():  std::bad_alloc
Aborted (core dumped)

lukasvst commented 2 years ago

I think the problem is that the command you're running contains the comments, so everything after the first #is not executed anymore. Can you try the following?

./bin/dmvio_dataset files=/home/nuc/Desktop/dataset-corridor1_512_16/dso/cam0/images vignette=/home/nuc/Desktop/dataset-corridor1_512_16/dso/cam0/vignette.png imuFile=/home/nuc/Desktop/dataset-corridor1_512_16/dso/imu.txt gtFile=/home/nuc/Desktop/dataset-corridor1_512_16/dso/gt_imu.csv calib=/home/nuc/library/dm-vio/configs/tumvi_calib/camera02.txt gamma=/home/nuc/library/dm-vio/configs/tumvi_calib/pcalib.txt imuCalib=/home/nuc/library/dm-vio/configs/tumvi_calib/camchain.yaml mode=0 use16Bit=1 preset=0 nogui=1 resultsPrefix=/home/nuc/library/dm-vio/result/result settingsFile=/home/nuc/library/dm-vio/configs/tumvi.yaml start=2

snakehaihai commented 2 years ago

Hi I tried and it works. Thanks

May I ask if I have a dataset in ROS bag format. How do i convert it into your reqired format? is there script that I can use?

lukasvst commented 2 years ago

At the moment there is no script for this so it will be a bit complicated, but I can give you some directions how it can be done:

It might be a good idea to first convert to the EuRoC format, there should be scripts online which can do that, but I haven't tested them.
You will need to generate a times.txt file which contains one line for each image (and optionally also the exposure). It needs to be stored in the parent folder of the images.
Then you will need to interpolate the IMU data, e.g. using this script: https://github.com/lukasvst/dm-vio-python-tools/blob/master/interpolate_imu_file.py
Finally you need to create a camera.txt file with the camera calibration.

I hope this helps.

snakehaihai commented 2 years ago

ok thx. i`ll try

lukasvst / dm-vio

std::bad_alloc error on NUC with ubuntu 18.04 #10