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openxrlab / xrslam

OpenXRLab Visual-inertial SLAM Toolbox and Benchmark
Apache License 2.0
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Empty GUI #16

Closed Xie-HIT closed 1 year ago

Xie-HIT commented 1 year ago

Followed instruction, I construct my folder structure like this (the MH_03_medium folder contains dataset): OpenXRLab ├── xrprimer ├── xrslam │ ├── data │ │ ├── EuRoC │ │ │ ├── MH_03_medium When I try to run XRSLAM by the following command: ./build/xrslam-pc/player/xrslam-pc-player -c configs/euroc.yaml --tum trajectory.tum euroc:///data/EuRoC/MH_03_medium/mav0 I can see a GUI opened, but nothing happened 1

The terminal showed like this:

`2023-01-18 12:09:20.940 - [XRSLAM][info] ██╗ ██╗██████╗ ███████╗██╗ █████╗ ███╗ ███╗ ╚██╗██╔╝██╔══██╗██╔════╝██║ ██╔══██╗████╗ ████║ ╚███╔╝ ██████╔╝███████╗██║ ███████║██╔████╔██║ ██╔██╗ ██╔══██╗╚════██║██║ ██╔══██║██║╚██╔╝██║ ██╔╝ ██╗██║ ██║███████║███████╗██║ ██║██║ ╚═╝ ██║ ╚═╝ ╚═╝╚═╝ ╚═╝╚══════╝╚══════╝╚═╝ ╚═╝╚═╝ ╚═╝width is not integer 2023-01-18 12:09:20.940 - [XRSLAM][info] Configurations: Config::camera_intrinsic: 4.58654e+02 0.00000e+00 3.67215e+02 0.00000e+00 4.57296e+02 2.48375e+02 0.00000e+00 0.00000e+00 1.00000e+00

Config::camera_to_body_rotation: -7.70718e-03 1.04993e-02 7.01753e-01 7.12301e-01

Config::camera_to_body_translation: -2.16401e-02 -6.46770e-02 9.81073e-03

Config::imu_to_body_rotation: 0.00000e+00 0.00000e+00 0.00000e+00 1.00000e+00

Config::imu_to_body_translation: 0.00000e+00 0.00000e+00 0.00000e+00

Config::keypoint_noise_cov: 5.00000e-01 0.00000e+00 0.00000e+00 5.00000e-01

Config::gyroscope_noise_cov: 2.87913e-08 0.00000e+00 0.00000e+00 0.00000e+00 2.87913e-08 0.00000e+00 0.00000e+00 0.00000e+00 2.87913e-08

Config::accelerometer_noise_cov: 4.00000e-06 0.00000e+00 0.00000e+00 0.00000e+00 4.00000e-06 0.00000e+00 0.00000e+00 0.00000e+00 4.00000e-06

Config::gyroscope_bias_noise_cov: 3.76088e-10 0.00000e+00 0.00000e+00 0.00000e+00 3.76088e-10 0.00000e+00 0.00000e+00 0.00000e+00 3.76088e-10

Config::accelerometer_bias_noise_cov: 9.00000e-06 0.00000e+00 0.00000e+00 0.00000e+00 9.00000e-06 0.00000e+00 0.00000e+00 0.00000e+00 9.00000e-06

Config::sliding_window_size: 10 Config::sliding_window_force_keyframe_landmarks: 35 Config::sliding_window_tracker_frequent: 1 Config::feature_tracker_min_keypoint_distance: 1.00000e+01 Config::feature_tracker_max_keypoint_detection: 1000 Config::feature_tracker_max_init_frames: 60 Config::feature_tracker_max_frames: 20 Config::feature_tracker_predict_keypoints: true Config::initializer_keyframe_gap: 5 Config::initializer_min_matches: 50 Config::initializer_min_parallax: 1.00000e+01 Config::initializer_min_triangulation: 20 Config::initializer_min_landmarks: 30 Config::initializer_refine_imu: true Config::visual_localization_enable: true Config::visual_localization_config_ip: 0.0.0.0 Config::visual_localization_config_port: 0 Config::solver_iteration_limit: 30 Config::solver_time_limit: 1.00000e+06

THREADING DISABLE ` How can I run it successfully? Thanks!

Xie-HIT commented 1 year ago

Finally I successfully run the demo by using absolute paths. 😃 The UI button is misleading, where 'stopped' means PLAY. Click 'stopped' and the algorithm will run. ./build/xrslam-pc/player/xrslam-pc-player -c <ABUSOLUTE PATH to configs/euroc.yaml> --tum <ABUSOLUTE PATH to trajectory.tum> euroc://<ABUSOLUTE PATH to data/EuRoC/MH_03_medium/mav0> So I close this issue.