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sair-lab / AirSLAM

🚀 AirVO upgrades to AirSLAM 🚀
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roslaunch air_slam vo_euroc.launch遇到了问题 #162

Open DeepestLover3685 opened 2 hours ago

DeepestLover3685 commented 2 hours ago

@xukuanHIT 您好！我在roslaunch air_slam vo_euroc.launch时遇到了错误。 首先是rviz没有显示 image 终端有这样的报错 Erron lightglue building Error in SuperPoint building

这是我vo_euroc.launch的配置以及dataroot路径 image

xukuanHIT commented 2 hours ago

@DeepestLover3685 你好，应该是环境没配好，TensorRT在转模型时没成功

DeepestLover3685 commented 2 hours ago

@DeepestLover3685 你好，应该是环境没配好，TensorRT在转模型时没成功

感谢，我的环境是 ubuntu20.04 tensorrt8.61 cuda12.1 我catkin_make AirSLAM时并没有问题

xukuanHIT commented 2 hours ago

可以把这一行改成 setReportableSeverity(Logger::Severity::kINFO); 输出更多些信息试试

DeepestLover3685 commented 2 hours ago

可以把这一行改成 setReportableSeverity（Logger：：Severity：：kINFO）;输出更多些信息试试

[11/02/2024-16:08:37] [I] [TRT] [MemUsageChange] Init CUDA: CPU +14, GPU +0, now: CPU 35, GPU 67 (MiB) [11/02/2024-16:08:38] [I] [TRT] [MemUsageChange] Init builder kernel library: CPU +947, GPU +190, now: CPU 1137, GPU 257 (MiB) Erron lightglue building Error in SuperPoint building 十分感谢，请问这是什么意思

xukuanHIT commented 2 hours ago

可以 给出完整的log吗?

DeepestLover3685 commented 1 hour ago

可以 给出完整的log吗?

roslaunch-llk-27963.log 十分感谢！

xukuanHIT commented 1 hour ago

这些是ros的log，屏幕种应该还有tensorRT相关的输出，也贴出来吧

DeepestLover3685 commented 1 hour ago

(airgs) llk@llk:~/catkin_ws/src/air_slam/launch/visual_odometry$ roslaunch air_slam vo_euroc.launch ... logging to /home/llk/.ros/log/05840c56-98e9-11ef-80cc-e18d85137846/roslaunch-llk-27963.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://llk:42223/

SUMMARY

PARAMETERS

NODES / rviz (rviz/rviz) visual_odometry (air_slam/visual_odometry)

ROS_MASTER_URI=http://localhost:11311

process[visual_odometry-1]: started with pid [27977] process[rviz-2]: started with pid [27978] config_file = /home/llk/catkin_ws/src/air_slam/configs/visual_odometry/vo_euroc.yaml config done [ INFO] [1730535477.780448188]: rviz version 1.14.25 [ INFO] [1730535477.780506598]: compiled against Qt version 5.12.8 [ INFO] [1730535477.780520701]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1730535477.788596294]: Forcing OpenGl version 0. [ INFO] [1730535478.400025470]: Stereo is NOT SUPPORTED [ INFO] [1730535478.400137640]: OpenGL device: Mesa Intel(R) UHD Graphics (CML GT2) [ INFO] [1730535478.400176229]: OpenGl version: 4.6 (GLSL 4.6) limited to GLSL 1.4 on Mesa system. [11/02/2024-16:17:59] [I] [TRT] [MemUsageChange] Init CUDA: CPU +14, GPU +0, now: CPU 35, GPU 67 (MiB) [11/02/2024-16:18:01] [I] [TRT] [MemUsageChange] Init builder kernel library: CPU +947, GPU +190, now: CPU 1137, GPU 257 (MiB) Erron lightglue building Error in SuperPoint building [visual_odometry-1] process has finished cleanly log file: /home/llk/.ros/log/05840c56-98e9-11ef-80cc-e18d85137846/visual_odometry-1*.log ^C[rviz-2] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

xukuanHIT commented 1 hour ago

从输出没能看出来什么问题，你用docker能跑通吗？

DeepestLover3685 commented 1 hour ago

从输出没能看出来什么问题，你用docker能跑通吗？

我还没有用过docker，现在就去试一下看看。我还需要更改TensorRT版本到8.5么？谢谢

xukuanHIT commented 1 hour ago

不需要的，AirVO用的是8.5，AirSLAM用8.6。另外，docker里面tensorRT已经配好8.6了

xukuanHIT commented 1 hour ago

你是什么显卡？

DeepestLover3685 commented 1 hour ago

NVIDIA GeForce GTX 1650 Ti

xukuanHIT commented 1 hour ago

那可能是显卡的问题，我们之前也有运到过TensorRT8.6在1xxx系列的显卡上不太兼容的问题。你可以先试试docker。我们目前也在开发一个纯点特征的系统，会降低对TensorRT版本的要求，以能够在更多GPU上运行

DeepestLover3685 commented 1 hour ago

那可能是显卡的问题，我们之前也有运到过TensorRT8.6在1xxx系列的显卡上不太兼容的问题。你可以先试试docker。我们目前也在开发一个纯点特征的系统，会降低对TensorRT版本的要求，以能够在更多GPU上运行

好的，辛苦了，十分感谢解答，加油！