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sair-lab / AirSLAM

🚀 AirVO upgrades to AirSLAM 🚀
GNU General Public License v3.0
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roslaunch euroc.launch ;process has died #116

Closed whrcn closed 3 months ago

whrcn commented 3 months ago

平台：3060 ubuntu20.04 opencv 4.2 CUDA 11.8 TensorRT 8.5 ceres2.0.0 g2o(tag:20230223_git) 编译中间有报错但是解决了，我下载的euroc的数据集，运行roslaunch air_vo euroc_ros.launch后显示如下： Save file to /home/hrw/catkin_airvio/src/AirVO/debug/traj.txt _keyframe_ids.size = 154 terminate called without an active exception [air_vo-2] process has died [pid 80377, exit code -6, cmd /home/hrw/catkin_airvio/devel/lib/air_vo/air_vo __name:=air_vo __log:=/home/hrw/.ros/log/604265a2-4b28-11ef-b206-a7b418734395/air_vo-2.log]. log file: /home/hrw/.ros/log/604265a2-4b28-11ef-b206-a7b418734395/air_vo-2*.log 2024-07-26 16-34-09屏幕截图

也没有可视化界面，请问这是怎么回事呢？

whrcn commented 3 months ago

当我在运行UMA-VI数据集的时候，也是类似的报错：One Frame Processinh Time: 30 ms. Save file to /home/hrw/catkin_airvio/src/AirVO/debug/traj.txt _keyframe_ids.size = 305 terminate called without an active exception [air_vo-2] process has died [pid 89162, exit code -6, cmd /home/hrw/catkin_airvio/devel/lib/air_vo/air_vo __name:=air_vo __log:=/home/hrw/.ros/log/8e3f65c0-4b2a-11ef-b206-a7b418734395/air_vo-2.log]. log file: /home/hrw/.ros/log/8e3f65c0-4b2a-11ef-b206-a7b418734395/air_vo-2*.log 也是类似的报错 2024-07-26 16-40-24屏幕截图 ，但是在读取了1000多张图片的时候就中断了

xukuanHIT commented 3 months ago

@whrcn 你好，

  1. 程序里只发布了可视化相关的topic，并没有默认打开rviz，你可以手动打开rviz可视化这些topic。
  2. 这个报错是可视化多线程导致的，程序结束时这些线程并没有妥善停止，不过这个不影响程序运行，因为这是程序结束时发生的，轨迹也已经保存。这个bug在新版已经修复了，但目前还没开源。
  3. UMA这个程序也运行结束了，并且轨迹也保存了。你可以检查下输入数据，是否只有1176帧？
whrcn commented 3 months ago

非常感谢，已经解决了这个问题！这个中断是因为输入结束了而不是异常。