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raulmur / ORB_SLAM2

Real-Time SLAM for Monocular, Stereo and RGB-D Cameras, with Loop Detection and Relocalization Capabilities
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Map Save/Load with Latest ORB_SLAM2 Version #421

Open fawadahm opened 7 years ago

fawadahm commented 7 years ago

Hi,

I was wondering whether there is an ORB_SLAM2 repo available with map save/load options. I have tried the versions from @Pione, @MathewDenny and the other ones out there but they only work on Ubuntu 14 with the previous versions of ORB_SLAM2.

I'm looking for a solution with the new ORB_SLAM2, on Ubuntu 16.04

I tried to tailor the current ORB_SLAM2 with map save/load code from @MathewDenny's repo but I run into the following error when trying to load the map:

Loading ORB Vocabulary. This could take a while... Vocabulary loaded in 0.17s terminate called after throwing an instance of 'boost::archive::archive_exception' what(): input stream error

Process finished with exit code 134 (interrupted by signal 6: SIGABRT)

poine commented 7 years ago

I have not played with orbslam in a while but i am positive that i have used it on ubuntu 16.04 Can you give more details about your crash? I remember one of the issues when switching from ubuntu 14 to ubuntu 16 was the version of opencv (v3 vs v2)

On Fri, Sep 1, 2017 at 1:23 AM, Fawad Ahmad notifications@github.com wrote:

Hi,

I was wondering whether there is an ORB_SLAM2 repo available with map save/load options. I have tried the versions from @pione https://github.com/pione, @mathewdeny and the other ones out there but they only work on Ubuntu 14 with the previous versions of ORB_SLAM2.

I'm looking for a solution with the new ORB_SLAM2, on Ubuntu 16.04

I tried to tailor the current ORB_SLAM2 with map save/load code from @MathewDenny https://github.com/mathewdenny's repo but I run into the following error when trying to load the map:

Loading ORB Vocabulary. This could take a while... Vocabulary loaded in 0.17s terminate called after throwing an instance of 'boost::archive::archive_ exception' what(): input stream error

Process finished with exit code 134 (interrupted by signal 6: SIGABRT)

— You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub https://github.com/raulmur/ORB_SLAM2/issues/421, or mute the thread https://github.com/notifications/unsubscribe-auth/AAGTz5KGvBjB_L7OHT8bX3ikkIpen08Wks5sd0BtgaJpZM4PJhyX .

fawadahm commented 7 years ago

Thank you for your kind reply.

The issue was that I would get a SIGSEV error each time I tried to load the map. I didn't dive deep into the code so I could not exactly figure out what the exact reason for the error was.

As far as the OpenCV version was concerned, I just changed the required version in the CMake files to 3.1.0. Could that have been causing the issue?

Anyhow, I managed to find another repo that works perfectly with Ubuntu 16.04. You can find it at:

https://github.com/Alkaid-Benetnash/ORB_SLAM2

wangzheqie commented 7 years ago

I am use OpenCV 2.4.9 and it work well.

shadowver commented 6 years ago

this mostly like caused by the boost::archive, make sure when you save and load map, achive flag is no_header.