Open zlthaha opened 2 years ago
大佬你好，我在尝试学习您，自己构建一个双目惯导的动态SLAM，但我依然是一个初学者，遇到一些问题想要请教您。我看到您说跑任何数据集前需要先run w/static来初始化gpu，我发现不这么做的话其他数据集无法运行，这是正常的吗？双目惯导模式需要怎么构建类似static的数据集呢，只需要静止就可以吗？我运行双目惯导时出现下列问题，是不是因为没有static的数据集？
Depth Threshold (Close/Far Points): 4.0439949035644531
ORB Extractor Parameters:
Left camera to Imu Transform (Tbc): [-0.99952501, 0.0075019184, -0.029890131, 0.045574836; 0.029615344, -0.03439736, -0.99896932, -0.071161799; -0.008522328, -0.99938005, 0.034158852, -0.044681255; 0, 0, 0, 1]
Sending request: 0 trracking time: 25.93858941666667 Request ID: 0 [ INFO] [1651048136.168864343]: Action finished: ABORTED [rds_slam_tum-1] process has died [pid 6067, exit code -11, cmd /root/catkin_ws/devel/lib/rds_slam/Dynamic_STEREO /root/catkin_ws/src/SLAM/Vocabulary/ORBvoc.txt /root/catkin_ws/src/SLAM/config/Stereo-Inertial/TUM_512.yaml /root/Dataset/TUM/dataset-corridor1_512_16/mav0/cam0/data /root/Dataset/TUM/dataset-corridor1_512_16/mav0/cam1/data /root/catkin_ws/src/SLAM/config/Stereo-Inertial/TUM_TimeStamps/dataset-corridor1_512.txt /root/catkin_ws/src/SLAM/config/Stereo-Inertial/TUM_IMU/dataset-corridor1_512.txt name:=rds_slam_tum log:=/root/.ros/log/05a94bac-c604-11ec-883a-2839266ba9eb/rds_slam_tum-1.log]. log file: /root/.ros/log/05a94bac-c604-11ec-883a-2839266ba9eb/rds_slam_tum-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done
大佬你好，我在尝试学习您，自己构建一个双目惯导的动态SLAM，但我依然是一个初学者，遇到一些问题想要请教您。我看到您说跑任何数据集前需要先run w/static来初始化gpu，我发现不这么做的话其他数据集无法运行，这是正常的吗？双目惯导模式需要怎么构建类似static的数据集呢，只需要静止就可以吗？我运行双目惯导时出现下列问题，是不是因为没有static的数据集？
Depth Threshold (Close/Far Points): 4.0439949035644531
ORB Extractor Parameters:
Left camera to Imu Transform (Tbc): [-0.99952501, 0.0075019184, -0.029890131, 0.045574836; 0.029615344, -0.03439736, -0.99896932, -0.071161799; -0.008522328, -0.99938005, 0.034158852, -0.044681255; 0, 0, 0, 1]
IMU frequency: 200 Hz IMU gyro noise: 0.00015999999595806003 rad/s/sqrt(Hz) IMU gyro walk: 2.2000000171829015e-05 rad/s^2/sqrt(Hz) IMU accelerometer noise: 0.00279999990016222 m/s^2/sqrt(Hz) IMU accelerometer walk: 0.00085999997099861503 m/s^3/sqrt(Hz) Waiting for action server to start. not IMU meas trracking time: inf not IMU meas trracking time: 1.664898 Gtk-Message: 08:28:55.195: Failed to load module "canberra-gtk-module" Gtk-Message: 08:28:55.198: Failed to load module "canberra-gtk-module" First KF:0; Map init KF:0 New Map created with 228 points trracking time: 2.3544099999999997 mCurrentFrame.mTimeStamp 1520531829.4011548 mnMatchesInliers 356 trracking time: 11.992380333333335 mCurrentFrame.mTimeStamp 1520531829.4511571 mnMatchesInliers 412 trracking time: 18.8220025 mCurrentFrame.mTimeStamp 1520531829.501158 mnMatchesInliers 441 trracking time: 21.272402 mCurrentFrame.mTimeStamp 1520531829.5511599 mnMatchesInliers 439 trracking time: 22.022585000000003 mCurrentFrame.mTimeStamp 1520531829.601161 mnMatchesInliers 434 trracking time: 22.764910857142858 mCurrentFrame.mTimeStamp 1520531829.6511629 mnMatchesInliers 553 trracking time: 24.132941375000001 mCurrentFrame.mTimeStamp 1520531829.701164 mnMatchesInliers 558 trracking time: 26.424046666666669 mCurrentFrame.mTimeStamp 1520531829.7511659 mnMatchesInliers 567 trracking time: 26.528253100000001 mCurrentFrame.mTimeStamp 1520531829.8011689 mnMatchesInliers 565 trracking time: 26.091551363636366 mCurrentFrame.mTimeStamp 1520531829.8511722 mnMatchesInliers 578
Sending request: 0 trracking time: 25.93858941666667 Request ID: 0 [ INFO] [1651048136.168864343]: Action finished: ABORTED [rds_slam_tum-1] process has died [pid 6067, exit code -11, cmd /root/catkin_ws/devel/lib/rds_slam/Dynamic_STEREO /root/catkin_ws/src/SLAM/Vocabulary/ORBvoc.txt /root/catkin_ws/src/SLAM/config/Stereo-Inertial/TUM_512.yaml /root/Dataset/TUM/dataset-corridor1_512_16/mav0/cam0/data /root/Dataset/TUM/dataset-corridor1_512_16/mav0/cam1/data /root/catkin_ws/src/SLAM/config/Stereo-Inertial/TUM_TimeStamps/dataset-corridor1_512.txt /root/catkin_ws/src/SLAM/config/Stereo-Inertial/TUM_IMU/dataset-corridor1_512.txt name:=rds_slam_tum log:=/root/.ros/log/05a94bac-c604-11ec-883a-2839266ba9eb/rds_slam_tum-1.log]. log file: /root/.ros/log/05a94bac-c604-11ec-883a-2839266ba9eb/rds_slam_tum-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done