ORB_SLAM3
ORB_SLAM3 copied to clipboard
UZ-SLAMLab
ORB_SLAM3::System issues during initialization
Hey folks,
I'm trying to use the orb slam 3 interface to obtain positions in space, i don't have a camera physically connected, instead i pass the frames and the imu to System::TraceRGBD and essentially obtain the information in runtime.
anyway so i am using LMWAFER docker image, the examples are working just fine but w/e i attempt to invoke this code:
ORB_SLAM3::System SLAM(argv[1],argv[2],ORB_SLAM3::System::IMU_RGBD, true, 0, "/dpds/ORB_SLAM3/Examples/Tevel/slam-core/config/RealSense_D435i.yaml");
with
dpds/ORB_SLAM3/build/bin/tevel_slam /dpds/ORB_SLAM3/Vocabulary/ORBvoc.txt /dpds/ORB_SLAM3/Examples/Tevel/slam-core/config/RealSense_D435i.yaml
the error: `ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it under certain conditions. See LICENSE.txt.
Input sensor was set to: RGB-D-Inertial terminate called after throwing an instance of 'cv::Exception' what(): OpenCV(4.6.0-dev) /dpds/opencv/modules/core/src/persistence.cpp:692: error: (-5:Bad argument) Input file is invalid in function 'open'
Aborted (core dumped)
please help `
i managed to pass that:
root@r131-far-7b76474d46-xbcgl:/dpds/ORB_SLAM3/build/bin# ./tevel_slam ORBvoc.txt RealSense_D435i.yaml 2022/08/15 15:59:08.664750 [INFO] timeUtility::getCurrentMicro() USE ROS IS SET TO FALSE 2022/08/15 15:59:08.664795 [TRACE] GrpcAbstractDriver::GrpcAbstractDriver() 2022/08/15 15:59:08.664801 [TRACE] GrpcAbstractDriver::setThresholdToPrint(), sendingThreshold=80, grabbingThreshold=50 2022/08/15 15:59:08.665355 [INFO] FrontCameraDataInterface::FrontCameraDataInterface(), GOT DNS FROM ENVIRONMENT VARIABLE, [r131-front-camera-driver], IP=10.43.170.209 2022/08/15 15:59:08.665362 [INFO] FrontCameraDataInterface::FrontCameraDataInterface(), GOT PORT FROM ENVIRONMENT VARIABLE 3500 2022/08/15 15:59:08.665381 [TRACE] sharedMemoryHandler::sharedMemoryHandler(), UNIQUE IDENTIFIER- r131_frontCameraDriver, SIZE- 24, OWNER- false 2022/08/15 15:59:08.665389 [TRACE] sharedMemoryHandler::reInitSharedMemorySize(), UNIQUE IDENTIFIER- r131_frontCameraDriver, RESIZING TO=4301468 2022/08/15 15:59:08.665398 [TRACE] doubleBufferSMHandler::initAsSlave(), r131_frontCameraDriver, SUCCESSFULLY 2022/08/15 15:59:08.665942 [TRACE] sharedMemoryHandler::sharedMemoryHandler(), UNIQUE IDENTIFIER- r131_D435_GYRO, SIZE- 24, OWNER- false 2022/08/15 15:59:08.665947 [TRACE] sharedMemoryHandler::reInitSharedMemorySize(), UNIQUE IDENTIFIER- r131_D435_GYRO, RESIZING TO=238 2022/08/15 15:59:08.665952 [TRACE] doubleBufferSMHandler::initAsSlave(), r131_D435_GYRO, SUCCESSFULLY 2022/08/15 15:59:08.665957 [TRACE] sharedMemoryHandler::sharedMemoryHandler(), UNIQUE IDENTIFIER- r131_D435_ACCL, SIZE- 24, OWNER- false 2022/08/15 15:59:08.665960 [TRACE] sharedMemoryHandler::reInitSharedMemorySize(), UNIQUE IDENTIFIER- r131_D435_ACCL, RESIZING TO=238 2022/08/15 15:59:08.665965 [TRACE] doubleBufferSMHandler::initAsSlave(), r131_D435_ACCL, SUCCESSFULLY ORBvoc.txt RealSense_D435i.yaml
ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it under certain conditions. See LICENSE.txt.
Input sensor was set to: RGB-D-Inertial Loading settings from RealSense_D435i.yaml Camera1.k3 optional parameter does not exist... -Loaded camera 1 Camera.newHeight optional parameter does not exist... Camera.newWidth optional parameter does not exist... -Loaded image info -Loaded IMU calibration -Loaded RGB-D calibration -Loaded ORB settings Viewer.imageViewScale optional parameter does not exist... -Loaded viewer settings System.LoadAtlasFromFile optional parameter does not exist... System.SaveAtlasToFile optional parameter does not exist... -Loaded Atlas settings System.thFarPoints optional parameter does not exist... -Loaded misc parameters
SLAM settings: -Camera 1 parameters (Pinhole): [ 617.201 617.362 324.637 242.462 ] -Camera 1 distortion parameters: [ 0 0 0 0 ] -Original image size: [ 640 , 480 ] -Current image size: [ 640 , 480 ] -Sequence FPS: 30 -Gyro noise: 0.01 -Accelerometer noise: 0.1 -Gyro walk: 1e-06 -Accelerometer walk: 0.0001 -IMU frequency: 200 -RGB-D depth map factor: 1000 -Features per image: 1250 -ORB scale factor: 1.2 -ORB number of scales: 8 -Initial FAST threshold: 20 -Min FAST threshold: 7
Loading ORB Vocabulary. This could take a while... Illegal instruction (core dumped)
now stuck on orb vocublary loading...
Starting program: /dpds/ORB_SLAM3/Examples/RGB-D-Inertial/rgbd_inertial_realsense_D435i /dpds/ORB_SLAM3/Vocabulary/ORBvoc.txt /dpds/ORB_SLAM3/Examples/RGB-D-Inertial/RealSense_D435i.yaml [Thread debugging using libthread_db enabled] Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1". [New Thread 0x7fffe7c53700 (LWP 1378)] [New Thread 0x7fffe7452700 (LWP 1379)] [New Thread 0x7fffe6c51700 (LWP 1380)] [New Thread 0x7fffe6c51700 (LWP 1381)] [Thread 0x7fffe6c51700 (LWP 1380) exited] [Thread 0x7fffe6c51700 (LWP 1381) exited] [New Thread 0x7fffe6c51700 (LWP 1382)] [New Thread 0x7fffe6450700 (LWP 1383)] [New Thread 0x7fffe5c4f700 (LWP 1384)]
[New Thread 0x7fffe544e700 (LWP 1385)] [New Thread 0x7fffe4c4d700 (LWP 1386)] [New Thread 0x7fffe444c700 (LWP 1387)] [New Thread 0x7fffe3c4b700 (LWP 1388)] [New Thread 0x7fffe344a700 (LWP 1389)] Sensor supports the following options:
0: Backlight Compensation is not supported 1: Brightness is not supported 2: Contrast is not supported 3: Exposure Description : Depth Exposure (usec) Current Value : 8500 4: Gain Description : UVC image gain Current Value : 16 5: Gamma is not supported 6: Hue is not supported 7: Saturation is not supported 8: Sharpness is not supported 9: White Balance is not supported 10: Enable Auto Exposure Description : Enable Auto Exposure Current Value : 1 11: Enable Auto White Balance is not supported 12: Visual Preset Description : Advanced-Mode Preset Current Value : 0 13: Laser Power Description : Manual laser power in mw. applicable only when laser power mode is set to Manual Current Value : 150 14: Accuracy is not supported 15: Motion Range is not supported 16: Filter Option is not supported 17: Confidence Threshold is not supported 18: Emitter Enabled Description : Emitter select, 0-disable all emitters, 1-enable laser, 2-enable laser auto (opt), 3-enable LED (opt) Current Value : 1 19: Frames Queue Size Description : Max number of frames you can hold at a given time. Increasing this number will reduce frame drops but increase latency, and vice versa Current Value : 16 20: Total Frame Drops is not supported 21: Auto Exposure Mode is not supported 22: Power Line Frequency is not supported 23: Asic Temperature is not supported 24: Error Polling Enabled Description : Enable / disable polling of camera internal errors Current Value : 1 25: Projector Temperature is not supported 26: Output Trigger Enabled Description : Generate trigger from the camera to external device once per frame Current Value : 0 27: Motion Module Temperature is not supported 28: Depth Units Description : Number of meters represented by a single depth unit Current Value : 0.001 29: Enable Motion Correction is not supported 30: Auto Exposure Priority is not supported 31: Color Scheme is not supported 32: Histogram Equalization Enabled is not supported 33: Min Distance is not supported 34: Max Distance is not supported 35: Texture Source is not supported 36: Filter Magnitude is not supported 37: Filter Smooth Alpha is not supported 38: Filter Smooth Delta is not supported 39: Holes Fill is not supported 40: Stereo Baseline Description : Distance in mm between the stereo imagers Current Value : 49.8735 41: Auto Exposure Converge Step is not supported 42: Inter Cam Sync Mode Description : Inter-camera synchronization mode: 0:Default, 1:Master, 2:Slave, 3:Full Salve, 4-258:Genlock with burst count of 1-255 frames for each trigger, 259 and 260 for two frames per trigger with laser ON-OFF and OFF-ON. Current Value : 0 43: Stream Filter is not supported 44: Stream Format Filter is not supported 45: Stream Index Filter is not supported 46: Emitter On Off Description : Alternating emitter pattern, toggled on/off on per-frame basis Current Value : 0 47: Zero Order Point X is not supported 48: Zero Order Point Y is not supported 49: LDD temperature is not supported 50: Mc Temperature is not supported 51: Ma Temperature is not supported 52: Hardware Preset is not supported 53: Global Time Enabled Description : Enable/Disable global timestamp Current Value : 1 54: Apd Temperature is not supported 55: Enable Mapping is not supported 56: Enable Relocalization is not supported 57: Enable Pose Jumping is not supported 58: Enable Dynamic Calibration is not supported 59: Depth Offset is not supported 60: Led Power is not supported 61: Zero Order Enabled is not supported 62: Enable Map Preservation is not supported 63: Freefall Detection Enabled is not supported 64: Receiver Gain is not supported 65: Post Processing Sharpening is not supported 66: Pre Processing Sharpening is not supported 67: Noise Filtering is not supported 68: Invalidation Bypass is not supported 69: Digital Gain is not supported 70: Sensor Mode is not supported 71: Emitter Always On Description : Emitter always on mode: 0:disabled(default), 1:enabled Current Value : 0 72: Thermal Compensation is not supported 73: Trigger Camera Accuracy Health is not supported 74: Reset Camera Accuracy Health is not supported 75: Host Performance is not supported 76: Hdr Enabled Description : HDR Option Current Value : 0 77: Sequence Name Description : HDR Option Current Value : 0 78: Sequence Size Description : HDR Option Current Value : 2 79: Sequence Id Description : HDR Option Current Value : 0 80: Humidity Temperature is not supported 81: Enable Max Usable Range is not supported 82: Alternate IR is not supported 83: Noise Estimation is not supported 84: Enable IR Reflectivity is not supported 85: Auto Exposure Limit Description : Exposure limit is in microseconds. Default is 0 which means full exposure range. If the requested exposure limit is greater than frame time, it will be set to frame time at runtime. Setting will not take effect until next streaming session. Current Value : 5000 86: Auto Gain Limit Description : Gain limits ranges from 16 to 248. Default is 0 which means full gain. If the requested gain limit is less than 16, it will be set to 16. If the requested gain limit is greater than 248, it will be set to 248. Setting will not take effect until next streaming session. Current Value : 248 87: Auto Rx Sensitivity is not supported 88: Transmitter Frequency is not supported 89: Vertical Binning is not supported 90: Receiver Sensitivity is not supported 91: Auto Exposure Limit Toggle Description : Toggle Auto-Exposure Limit Current Value : 1 92: Auto Gain Limit Toggle Description : Toggle Auto-Gain Limit Current Value : 0 Sensor supports the following options:
0: Backlight Compensation Description : Enable / disable backlight compensation Current Value : 0 1: Brightness Description : UVC image brightness Current Value : 0 2: Contrast Description : UVC image contrast Current Value : 50 3: Exposure Description : Controls exposure time of color camera. Setting any value will disable auto exposure Current Value : 100 4: Gain Description : UVC image gain Current Value : 64 5: Gamma Description : UVC image gamma setting Current Value : 300 6: Hue Description : UVC image hue Current Value : 0 7: Saturation Description : UVC image saturation setting Current Value : 64 8: Sharpness Description : UVC image sharpness setting Current Value : 50 9: White Balance Description : Controls white balance of color image. Setting any value will disable auto white balance Current Value : 4600 10: Enable Auto Exposure Description : Enable / disable auto-exposure Current Value : 1 11: Enable Auto White Balance Description : Enable / disable auto-white-balance Current Value : 1 12: Visual Preset is not supported 13: Laser Power is not supported 14: Accuracy is not supported 15: Motion Range is not supported 16: Filter Option is not supported 17: Confidence Threshold is not supported 18: Emitter Enabled is not supported 19: Frames Queue Size Description : Max number of frames you can hold at a given time. Increasing this number will reduce frame drops but increase latency, and vice versa Current Value : 16 20: Total Frame Drops is not supported 21: Auto Exposure Mode is not supported 22: Power Line Frequency Description : Power Line Frequency Current Value : 3 23: Asic Temperature is not supported 24: Error Polling Enabled is not supported 25: Projector Temperature is not supported 26: Output Trigger Enabled is not supported 27: Motion Module Temperature is not supported 28: Depth Units is not supported 29: Enable Motion Correction is not supported 30: Auto Exposure Priority Description : Restrict Auto-Exposure to enforce constant FPS rate. Turn ON to remove the restrictions (may result in FPS drop) Current Value : 0 31: Color Scheme is not supported 32: Histogram Equalization Enabled is not supported 33: Min Distance is not supported 34: Max Distance is not supported 35: Texture Source is not supported 36: Filter Magnitude is not supported 37: Filter Smooth Alpha is not supported 38: Filter Smooth Delta is not supported 39: Holes Fill is not supported 40: Stereo Baseline is not supported 41: Auto Exposure Converge Step is not supported 42: Inter Cam Sync Mode is not supported 43: Stream Filter is not supported 44: Stream Format Filter is not supported 45: Stream Index Filter is not supported 46: Emitter On Off is not supported 47: Zero Order Point X is not supported 48: Zero Order Point Y is not supported 49: LDD temperature is not supported 50: Mc Temperature is not supported 51: Ma Temperature is not supported 52: Hardware Preset is not supported 53: Global Time Enabled Description : Enable/Disable global timestamp Current Value : 1 54: Apd Temperature is not supported 55: Enable Mapping is not supported 56: Enable Relocalization is not supported 57: Enable Pose Jumping is not supported 58: Enable Dynamic Calibration is not supported 59: Depth Offset is not supported 60: Led Power is not supported 61: Zero Order Enabled is not supported 62: Enable Map Preservation is not supported 63: Freefall Detection Enabled is not supported 64: Receiver Gain is not supported 65: Post Processing Sharpening is not supported 66: Pre Processing Sharpening is not supported 67: Noise Filtering is not supported 68: Invalidation Bypass is not supported 69: Digital Gain is not supported 70: Sensor Mode is not supported 71: Emitter Always On is not supported 72: Thermal Compensation is not supported 73: Trigger Camera Accuracy Health is not supported 74: Reset Camera Accuracy Health is not supported 75: Host Performance is not supported 76: Hdr Enabled is not supported 77: Sequence Name is not supported 78: Sequence Size is not supported 79: Sequence Id is not supported 80: Humidity Temperature is not supported 81: Enable Max Usable Range is not supported 82: Alternate IR is not supported 83: Noise Estimation is not supported 84: Enable IR Reflectivity is not supported 85: Auto Exposure Limit is not supported 86: Auto Gain Limit is not supported 87: Auto Rx Sensitivity is not supported 88: Transmitter Frequency is not supported 89: Vertical Binning is not supported 90: Receiver Sensitivity is not supported 91: Auto Exposure Limit Toggle is not supported 92: Auto Gain Limit Toggle is not supported Sensor supports the following options:
0: Backlight Compensation is not supported 1: Brightness is not supported 2: Contrast is not supported 3: Exposure is not supported 4: Gain is not supported 5: Gamma is not supported 6: Hue is not supported 7: Saturation is not supported 8: Sharpness is not supported 9: White Balance is not supported 10: Enable Auto Exposure is not supported 11: Enable Auto White Balance is not supported 12: Visual Preset is not supported 13: Laser Power is not supported 14: Accuracy is not supported 15: Motion Range is not supported 16: Filter Option is not supported 17: Confidence Threshold is not supported 18: Emitter Enabled is not supported 19: Frames Queue Size Description : Max number of frames you can hold at a given time. Increasing this number will reduce frame drops but increase latency, and vice versa Current Value : 16 20: Total Frame Drops is not supported 21: Auto Exposure Mode is not supported 22: Power Line Frequency is not supported 23: Asic Temperature is not supported 24: Error Polling Enabled is not supported 25: Projector Temperature is not supported 26: Output Trigger Enabled is not supported 27: Motion Module Temperature is not supported 28: Depth Units is not supported 29: Enable Motion Correction Description : Enable/Disable Automatic Motion Data Correction Current Value : 1 30: Auto Exposure Priority is not supported 31: Color Scheme is not supported 32: Histogram Equalization Enabled is not supported 33: Min Distance is not supported 34: Max Distance is not supported 35: Texture Source is not supported 36: Filter Magnitude is not supported 37: Filter Smooth Alpha is not supported 38: Filter Smooth Delta is not supported 39: Holes Fill is not supported 40: Stereo Baseline is not supported 41: Auto Exposure Converge Step is not supported 42: Inter Cam Sync Mode is not supported 43: Stream Filter is not supported 44: Stream Format Filter is not supported 45: Stream Index Filter is not supported 46: Emitter On Off is not supported 47: Zero Order Point X is not supported 48: Zero Order Point Y is not supported 49: LDD temperature is not supported 50: Mc Temperature is not supported 51: Ma Temperature is not supported 52: Hardware Preset is not supported 53: Global Time Enabled Description : Enable/Disable global timestamp Current Value : 1 54: Apd Temperature is not supported 55: Enable Mapping is not supported 56: Enable Relocalization is not supported 57: Enable Pose Jumping is not supported 58: Enable Dynamic Calibration is not supported 59: Depth Offset is not supported 60: Led Power is not supported 61: Zero Order Enabled is not supported 62: Enable Map Preservation is not supported 63: Freefall Detection Enabled is not supported 64: Receiver Gain is not supported 65: Post Processing Sharpening is not supported 66: Pre Processing Sharpening is not supported 67: Noise Filtering is not supported 68: Invalidation Bypass is not supported 69: Digital Gain is not supported 70: Sensor Mode is not supported 71: Emitter Always On is not supported 72: Thermal Compensation is not supported 73: Trigger Camera Accuracy Health is not supported 74: Reset Camera Accuracy Health is not supported 75: Host Performance is not supported 76: Hdr Enabled is not supported 77: Sequence Name is not supported 78: Sequence Size is not supported 79: Sequence Id is not supported 80: Humidity Temperature is not supported 81: Enable Max Usable Range is not supported 82: Alternate IR is not supported 83: Noise Estimation is not supported 84: Enable IR Reflectivity is not supported 85: Auto Exposure Limit is not supported 86: Auto Gain Limit is not supported 87: Auto Rx Sensitivity is not supported 88: Transmitter Frequency is not supported 89: Vertical Binning is not supported 90: Receiver Sensitivity is not supported 91: Auto Exposure Limit Toggle is not supported 92: Auto Gain Limit Toggle is not supported [New Thread 0x7fffe2c49700 (LWP 1390)] [New Thread 0x7fffe2448700 (LWP 1391)] [Thread 0x7fffe2448700 (LWP 1391) exited] [New Thread 0x7fffe2448700 (LWP 1392)] [Thread 0x7fffe2448700 (LWP 1392) exited] [New Thread 0x7fffe2448700 (LWP 1393)] [New Thread 0x7fffe1c47700 (LWP 1394)] [Thread 0x7fffe1c47700 (LWP 1394) exited] [New Thread 0x7fffe1c47700 (LWP 1395)] [New Thread 0x7fffe1446700 (LWP 1396)] [New Thread 0x7fffe0c45700 (LWP 1397)] [New Thread 0x7fffe0444700 (LWP 1398)] [New Thread 0x7fffdfc43700 (LWP 1399)] [New Thread 0x7fffdf442700 (LWP 1400)] [New Thread 0x7fffdec41700 (LWP 1401)] [New Thread 0x7fffde440700 (LWP 1402)] [New Thread 0x7fffddb11700 (LWP 1403)] [New Thread 0x7fffdd0b4700 (LWP 1404)] [New Thread 0x7fffdc8b3700 (LWP 1405)] [New Thread 0x7fffd7fff700 (LWP 1406)] [New Thread 0x7fffd77fe700 (LWP 1407)] [New Thread 0x7fffd6ffd700 (LWP 1408)] [New Thread 0x7fffd67fc700 (LWP 1409)] [New Thread 0x7fffd5ffb700 (LWP 1410)] [Thread 0x7fffd67fc700 (LWP 1409) exited] [Thread 0x7fffd5ffb700 (LWP 1410) exited] [Thread 0x7fffddb11700 (LWP 1403) exited] [Thread 0x7fffdd0b4700 (LWP 1404) exited] [Thread 0x7fffdc8b3700 (LWP 1405) exited] [Thread 0x7fffd77fe700 (LWP 1407) exited] [Thread 0x7fffd7fff700 (LWP 1406) exited] [Thread 0x7fffd6ffd700 (LWP 1408) exited] [New Thread 0x7fffd6ffd700 (LWP 1411)] [New Thread 0x7fffd7fff700 (LWP 1412)] [New Thread 0x7fffd77fe700 (LWP 1413)] [New Thread 0x7fffdc8b3700 (LWP 1414)] [New Thread 0x7fffddc3f700 (LWP 1415)] [New Thread 0x7fffdd43e700 (LWP 1416)] [New Thread 0x7fffd67fc700 (LWP 1417)] [New Thread 0x7fffd5ffb700 (LWP 1418)] Tbc = 0.999971, -0.0015239, 0.00745183, -0.0208106 0.00151524, 0.999998, 0.00116696, 0.00516718 -0.0074536, -0.00115564, 0.999972, 0.0116547 fx = 604.76 fy = 604.005 cx = 322.166 cy = 244.154 height = 480 width = 640 Coeff = 0, 0, 0, 0, 0, Model = Inverse Brown Conrady
ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it under certain conditions. See LICENSE.txt.
Input sensor was set to: RGB-D-Inertial Loading settings from /dpds/ORB_SLAM3/Examples/RGB-D-Inertial/RealSense_D435i.yaml Camera1.k3 optional parameter does not exist... -Loaded camera 1 Camera.newHeight optional parameter does not exist... Camera.newWidth optional parameter does not exist... -Loaded image info -Loaded IMU calibration -Loaded RGB-D calibration -Loaded ORB settings Viewer.imageViewScale optional parameter does not exist... -Loaded viewer settings System.LoadAtlasFromFile optional parameter does not exist... System.SaveAtlasToFile optional parameter does not exist... -Loaded Atlas settings System.thFarPoints optional parameter does not exist... -Loaded misc parameters
SLAM settings: -Camera 1 parameters (Pinhole): [ 617.201 617.362 324.637 242.462 ] -Camera 1 distortion parameters: [ 0 0 0 0 ] -Original image size: [ 640 , 480 ] -Current image size: [ 640 , 480 ] -Sequence FPS: 30 -Gyro noise: 0.01 -Accelerometer noise: 0.1 -Gyro walk: 1e-06 -Accelerometer walk: 0.0001 -IMU frequency: 200 -RGB-D depth map factor: 1000 -Features per image: 1250 -ORB scale factor: 1.2 -ORB number of scales: 8 -Initial FAST threshold: 20 -Min FAST threshold: 7
Loading ORB Vocabulary. This could take a while...
Thread 1 "rgbd_inertial_r" received signal SIGILL, Illegal instruction.
0x00007ffff239b588 in DBoW2::FORB::fromString(cv::Mat&, std::__cxx11::basic_string<char, std::char_traits
more info please help........... :cactus:
i managed to pass that:
root@r131-far-7b76474d46-xbcgl:/dpds/ORB_SLAM3/build/bin# ./tevel_slam ORBvoc.txt RealSense_D435i.yaml 2022/08/15 15:59:08.664750 [INFO] timeUtility::getCurrentMicro() USE ROS IS SET TO FALSE 2022/08/15 15:59:08.664795 [TRACE] GrpcAbstractDriver::GrpcAbstractDriver() 2022/08/15 15:59:08.664801 [TRACE] GrpcAbstractDriver::setThresholdToPrint(), sendingThreshold=80, grabbingThreshold=50 2022/08/15 15:59:08.665355 [INFO] FrontCameraDataInterface::FrontCameraDataInterface(), GOT DNS FROM ENVIRONMENT VARIABLE, [r131-front-camera-driver], IP=10.43.170.209 2022/08/15 15:59:08.665362 [INFO] FrontCameraDataInterface::FrontCameraDataInterface(), GOT PORT FROM ENVIRONMENT VARIABLE 3500 2022/08/15 15:59:08.665381 [TRACE] sharedMemoryHandler::sharedMemoryHandler(), UNIQUE IDENTIFIER- r131_frontCameraDriver, SIZE- 24, OWNER- false 2022/08/15 15:59:08.665389 [TRACE] sharedMemoryHandler::reInitSharedMemorySize(), UNIQUE IDENTIFIER- r131_frontCameraDriver, RESIZING TO=4301468 2022/08/15 15:59:08.665398 [TRACE] doubleBufferSMHandler::initAsSlave(), r131_frontCameraDriver, SUCCESSFULLY 2022/08/15 15:59:08.665942 [TRACE] sharedMemoryHandler::sharedMemoryHandler(), UNIQUE IDENTIFIER- r131_D435_GYRO, SIZE- 24, OWNER- false 2022/08/15 15:59:08.665947 [TRACE] sharedMemoryHandler::reInitSharedMemorySize(), UNIQUE IDENTIFIER- r131_D435_GYRO, RESIZING TO=238 2022/08/15 15:59:08.665952 [TRACE] doubleBufferSMHandler::initAsSlave(), r131_D435_GYRO, SUCCESSFULLY 2022/08/15 15:59:08.665957 [TRACE] sharedMemoryHandler::sharedMemoryHandler(), UNIQUE IDENTIFIER- r131_D435_ACCL, SIZE- 24, OWNER- false 2022/08/15 15:59:08.665960 [TRACE] sharedMemoryHandler::reInitSharedMemorySize(), UNIQUE IDENTIFIER- r131_D435_ACCL, RESIZING TO=238 2022/08/15 15:59:08.665965 [TRACE] doubleBufferSMHandler::initAsSlave(), r131_D435_ACCL, SUCCESSFULLY ORBvoc.txt RealSense_D435i.yaml
ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza. This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it under certain conditions. See LICENSE.txt.
Input sensor was set to: RGB-D-Inertial
Loading settings from RealSense_D435i.yaml Camera1.k3 optional parameter does not exist... -Loaded camera 1 Camera.newHeight optional parameter does not exist... Camera.newWidth optional parameter does not exist... -Loaded image info -Loaded IMU calibration -Loaded RGB-D calibration -Loaded ORB settings Viewer.imageViewScale optional parameter does not exist... -Loaded viewer settings System.LoadAtlasFromFile optional parameter does not exist... System.SaveAtlasToFile optional parameter does not exist... -Loaded Atlas settings System.thFarPoints optional parameter does not exist... -Loaded misc parameters
SLAM settings: -Camera 1 parameters (Pinhole): [ 617.201 617.362 324.637 242.462 ] -Camera 1 distortion parameters: [ 0 0 0 0 ] -Original image size: [ 640 , 480 ] -Current image size: [ 640 , 480 ] -Sequence FPS: 30 -Gyro noise: 0.01 -Accelerometer noise: 0.1 -Gyro walk: 1e-06 -Accelerometer walk: 0.0001 -IMU frequency: 200 -RGB-D depth map factor: 1000 -Features per image: 1250 -ORB scale factor: 1.2 -ORB number of scales: 8 -Initial FAST threshold: 20 -Min FAST threshold: 7
Loading ORB Vocabulary. This could take a while... Illegal instruction (core dumped)
now stuck on orb vocublary loading...
How did u end up passing it?
Hi. I am also getting an illegal instruction error with ORBSLAM2. What should I do get past this error?
#0 0x0000555555605ef6 in DBoW2::TemplatedVocabulary<cv::Mat, DBoW2::FORB>::loadFromBinaryFile(std::__cxx11::basic_string<char, std::char_traits
Any help will be appreciated! Thanks
