A Planar RGB-D SLAM which utilizes Manhattan World structure to provide optimal camera pose trajectory while also providing a sparse reconstruction containing points, lines and planes, and a dense surfel-based reconstruction.
It gives the following error result:
`ManhattanSLAM Copyright (C) 2021 Raza Yunus, Technical University of Munich (TUM).
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.
Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!
[INFO] Run the Tracking function.
img_width = 640
img_height = 480
mUndistX size = 480 x 640
mUndistY size = 480 x 640
Camera Parameters:
fx: 535.4
fy: 539.2
cx: 320.1
cy: 247.6
k1: 0
k2: 0
p1: 0
p2: 0
fps: 30
color order: RGB (ignored if grayscale)
ORB Extractor Parameters:
Number of Features: 1000
Scale Levels: 8
Scale Factor: 1.2
Initial Fast Threshold: 20
Minimum Fast Threshold: 7
Depth Threshold (Close/Far Points): 2.98842
[INFO]: Run the System Track() function.
[INFO]: Run The Frame() function.
manhattan_slam: /usr/local/include/eigen3/Eigen/src/Core/PlainObjectBase.h:306: void Eigen::PlainObjectBase::resize(Eigen::Index) [with Derived = Eigen::Matrix<double, 6, 1>; Eigen::Index = long int]: Assertion ((SizeAtCompileTime == Dynamic && (MaxSizeAtCompileTime==Dynamic || size<=MaxSizeAtCompileTime)) || SizeAtCompileTime == size) && size>=0' failed. Aborted (core dumped)
I use GDB to debug, it gives message as follow:
`Excess command line arguments ignored. (Example/TUM3.yaml ...)
GNU gdb (Ubuntu 8.1.1-0ubuntu1) 8.1.1
Copyright (C) 2018 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law. Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
http://www.gnu.org/software/gdb/bugs/.
Find the GDB manual and other documentation resources online at:
http://www.gnu.org/software/gdb/documentation/.
For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from ./Example/manhattan_slam...done.
"/home/dongying/study/ManhattanSLAM/Vocabulary/ORBvoc.txt" is not a core dump: File format not recognized
(gdb) r Vocabulary/ORBvoc.txt Example/TUM3.yaml /home/dongying/dataset/rgbd_dataset_freiburg3_sitting_xyz /home/dongying/dataset/rgbd_dataset_freiburg3_sitting_xyz/associate.txt
Starting program: /home/dongying/study/ManhattanSLAM/Example/manhattan_slam Vocabulary/ORBvoc.txt Example/TUM3.yaml /home/dongying/dataset/rgbd_dataset_freiburg3_sitting_xyz /home/dongying/dataset/rgbd_dataset_freiburg3_sitting_xyz/associate.txt
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
ManhattanSLAM Copyright (C) 2021 Raza Yunus, Technical University of Munich (TUM).
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.
Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!
[INFO] Run the Tracking function.
img_width = 640
img_height = 480
mUndistX size = 480 x 640
mUndistY size = 480 x 640
Camera Parameters:
fx: 535.4
fy: 539.2
cx: 320.1
cy: 247.6
k1: 0
k2: 0
p1: 0
p2: 0
fps: 30
color order: RGB (ignored if grayscale)
ORB Extractor Parameters:
Number of Features: 1000
Scale Levels: 8
Scale Factor: 1.2
Initial Fast Threshold: 20
Minimum Fast Threshold: 7
Depth Threshold (Close/Far Points): 2.98842
[New Thread 0x7fffb25e5700 (LWP 1822)]
[New Thread 0x7fffb11dd700 (LWP 1823)]
[New Thread 0x7fffb09dc700 (LWP 1824)]
[INFO]: Run the System Track() function.
[New Thread 0x7fffaac3c700 (LWP 1825)]
[New Thread 0x7fffaa43b700 (LWP 1826)]
[New Thread 0x7fffa9c3a700 (LWP 1827)]
[New Thread 0x7fffa9439700 (LWP 1828)]
[New Thread 0x7fffa8c38700 (LWP 1829)]
[New Thread 0x7fff9bfff700 (LWP 1830)]
[New Thread 0x7fff9b7fe700 (LWP 1831)]
[New Thread 0x7fff9affd700 (LWP 1832)]
[New Thread 0x7fff9a7fc700 (LWP 1833)]
[New Thread 0x7fff99ffb700 (LWP 1834)]
[New Thread 0x7fff997fa700 (LWP 1835)]
[New Thread 0x7fff98ff9700 (LWP 1836)]
[New Thread 0x7fff77fff700 (LWP 1837)]
[New Thread 0x7fff777fe700 (LWP 1838)]
[New Thread 0x7fff76ffd700 (LWP 1839)]
[New Thread 0x7fff767fc700 (LWP 1840)]
[INFO]: Run The Frame() function.
[New Thread 0x7fff75ffb700 (LWP 1841)]
[New Thread 0x7fff757fa700 (LWP 1842)]
[New Thread 0x7fff74ff9700 (LWP 1843)]
[New Thread 0x7fff52524700 (LWP 1844)]
[New Thread 0x7fff51d23700 (LWP 1845)]
[Thread 0x7fff75ffb700 (LWP 1841) exited]
[New Thread 0x7fff75ffb700 (LWP 1846)]
[New Thread 0x7fff51522700 (LWP 1847)]
[Thread 0x7fff757fa700 (LWP 1842) exited]
[Thread 0x7fff74ff9700 (LWP 1843) exited]
`
I try to switch between different versions of Eigen(3.3.0, 3.3.9), but still no effect.
Could you give me some advice to help me solve this problem ? Thank you very much! Looking forward to your recovery.
It gives the following error result: `ManhattanSLAM Copyright (C) 2021 Raza Yunus, Technical University of Munich (TUM). This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it under certain conditions. See LICENSE.txt.
Loading ORB Vocabulary. This could take a while... Vocabulary loaded!
[INFO] Run the Tracking function. img_width = 640 img_height = 480 mUndistX size = 480 x 640 mUndistY size = 480 x 640
Camera Parameters:
ORB Extractor Parameters:
Depth Threshold (Close/Far Points): 2.98842 [INFO]: Run the System Track() function. [INFO]: Run The Frame() function. manhattan_slam: /usr/local/include/eigen3/Eigen/src/Core/PlainObjectBase.h:306: void Eigen::PlainObjectBase::resize(Eigen::Index) [with Derived = Eigen::Matrix<double, 6, 1>; Eigen::Index = long int]: Assertion
((SizeAtCompileTime == Dynamic && (MaxSizeAtCompileTime==Dynamic || size<=MaxSizeAtCompileTime)) || SizeAtCompileTime == size) && size>=0' failed. Aborted (core dumped)I use GDB to debug, it gives message as follow: `Excess command line arguments ignored. (Example/TUM3.yaml ...) GNU gdb (Ubuntu 8.1.1-0ubuntu1) 8.1.1 Copyright (C) 2018 Free Software Foundation, Inc. License GPLv3+: GNU GPL version 3 or later http://gnu.org/licenses/gpl.html This is free software: you are free to change and redistribute it. There is NO WARRANTY, to the extent permitted by law. Type "show copying" and "show warranty" for details. This GDB was configured as "x86_64-linux-gnu". Type "show configuration" for configuration details. For bug reporting instructions, please see: http://www.gnu.org/software/gdb/bugs/. Find the GDB manual and other documentation resources online at: http://www.gnu.org/software/gdb/documentation/. For help, type "help". Type "apropos word" to search for commands related to "word"... Reading symbols from ./Example/manhattan_slam...done. "/home/dongying/study/ManhattanSLAM/Vocabulary/ORBvoc.txt" is not a core dump: File format not recognized (gdb) r Vocabulary/ORBvoc.txt Example/TUM3.yaml /home/dongying/dataset/rgbd_dataset_freiburg3_sitting_xyz /home/dongying/dataset/rgbd_dataset_freiburg3_sitting_xyz/associate.txt Starting program: /home/dongying/study/ManhattanSLAM/Example/manhattan_slam Vocabulary/ORBvoc.txt Example/TUM3.yaml /home/dongying/dataset/rgbd_dataset_freiburg3_sitting_xyz /home/dongying/dataset/rgbd_dataset_freiburg3_sitting_xyz/associate.txt [Thread debugging using libthread_db enabled] Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
ManhattanSLAM Copyright (C) 2021 Raza Yunus, Technical University of Munich (TUM). This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it under certain conditions. See LICENSE.txt.
Loading ORB Vocabulary. This could take a while... Vocabulary loaded!
[INFO] Run the Tracking function. img_width = 640 img_height = 480 mUndistX size = 480 x 640 mUndistY size = 480 x 640
Camera Parameters:
ORB Extractor Parameters:
Depth Threshold (Close/Far Points): 2.98842 [New Thread 0x7fffb25e5700 (LWP 1822)] [New Thread 0x7fffb11dd700 (LWP 1823)] [New Thread 0x7fffb09dc700 (LWP 1824)] [INFO]: Run the System Track() function. [New Thread 0x7fffaac3c700 (LWP 1825)] [New Thread 0x7fffaa43b700 (LWP 1826)] [New Thread 0x7fffa9c3a700 (LWP 1827)] [New Thread 0x7fffa9439700 (LWP 1828)] [New Thread 0x7fffa8c38700 (LWP 1829)] [New Thread 0x7fff9bfff700 (LWP 1830)] [New Thread 0x7fff9b7fe700 (LWP 1831)] [New Thread 0x7fff9affd700 (LWP 1832)] [New Thread 0x7fff9a7fc700 (LWP 1833)] [New Thread 0x7fff99ffb700 (LWP 1834)] [New Thread 0x7fff997fa700 (LWP 1835)] [New Thread 0x7fff98ff9700 (LWP 1836)] [New Thread 0x7fff77fff700 (LWP 1837)] [New Thread 0x7fff777fe700 (LWP 1838)] [New Thread 0x7fff76ffd700 (LWP 1839)] [New Thread 0x7fff767fc700 (LWP 1840)] [INFO]: Run The Frame() function. [New Thread 0x7fff75ffb700 (LWP 1841)] [New Thread 0x7fff757fa700 (LWP 1842)] [New Thread 0x7fff74ff9700 (LWP 1843)] [New Thread 0x7fff52524700 (LWP 1844)] [New Thread 0x7fff51d23700 (LWP 1845)] [Thread 0x7fff75ffb700 (LWP 1841) exited] [New Thread 0x7fff75ffb700 (LWP 1846)] [New Thread 0x7fff51522700 (LWP 1847)] [Thread 0x7fff757fa700 (LWP 1842) exited] [Thread 0x7fff74ff9700 (LWP 1843) exited] `
I try to switch between different versions of Eigen(3.3.0, 3.3.9), but still no effect.
Could you give me some advice to help me solve this problem ? Thank you very much! Looking forward to your recovery.