strasdat / ScaViSLAM

This is a general and scalable framework for visual SLAM. It employs "Double Window Optimization" (DWO).

GNU Lesser General Public License v3.0

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stereo_slam with a live Kinect: no display for a long time + crash in low-feature cases #15

Open raphaelfavier opened 12 years ago

raphaelfavier commented 12 years ago

with ScaViSLAM compiled using with PCL support, with no CUDA support:

running ./stereo_slam ../data/rgbd-Live.cfg in svs_build_with_pcl displays a frame with no content. The command line shows some activity (seems to be frame numbers) but the display window gets refresh around the 1000th captured frame.

the program crashes on an assertion when the environment has very few features:

stereo_slam: /home/vca/SOFT/ScaViSLAM/scavislam/slam_graph.cpp:165: void ScaViSLAM::SlamGraph::addKeyframe(int, int, const Pose&, const std::list > >&, const std::list > >&) [with Pose = Sophus::SE3, Camera = ScaViSLAM::StereoCamera, Proj = ScaViSLAM::SE3XYZ_STEREO, int ObsDim = 3]: Assertion `neighborid_to_strength.find(oldkey_id)!=neighborid_to_strength.end()' failed.
Aborted

strasdat commented 12 years ago

That is a hack: For some reason in my ASUS RGB-D camera, the images are quite dark on the first 1000 frames, so I
usually ignore those. ToDo (stereo_slam.cpp): Add a button to the sidebar. SLAM/tracking will only start after the user pressed this button.
This is one hint that tracking failed. At the moment, most parameters/heuristics are optimized for the "New College
Sequence". General hints: try to avoid sequences with low texture and fast camera motion (with motion blur and rolling shutter skew). This is also related to: https://github.com/strasdat/ScaViSLAM/issues/12

raphaelfavier commented 12 years ago

In my case, I cannot interact with the window before it starts displaying anything. It simply freezes until the 1001th frame.

I forgot to say that before stereo_slam crashes, I have some warning messages ( ATTENTIOn, THIS SHOULD NEVER HAPPEN!), this might be a way to detect tracking failure (as stated in issue 12). See http://static.inky.ws/syn/349 for an example trace

goolygu commented 11 years ago

Regarding the second problem. Is there any easy way to just avoid it from crashing? The trajectory doesn't need to be correct when there is not enough textures and it could catch up once the camera sees more features. Thanks.

By the way, ScaViSLAM has the best performance after I compared it with 5 other methods, I'll probably write a ROS interface if I am able to solve the crash problem.

lasoso commented 10 years ago

Hello, I would like to know if you resolve the crash problem? Because I need to use ScaViSLAM with sequences with low texture , so I had also the "ATTENTIOn, THIS SHOULD NEVER HAPPEN!" and the crash problem. Thanks.

romulogcerqueira commented 9 years ago

Do Someone solve this crash problem?