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Published 20 hours ago • verified publisher icon baidu

app_tracking : Optimize3dPoints takes too long ...

Open johnjin404 opened this issue 5 years ago • 9 comments

when i run app_tracking around the building, sometimes it works,,,but also got something wrong.

E0312 13:23:26.400254 19484 bundle_adjuster.cc:1601] Optimize3dPoints takes too long (overall) 118 ms map points # 59111 add_constraints_ms 110 ceres_solution_ms 7 save_result_ms 0 remove_outlier_ms 0

ubuntu 16.04 Intel® Core™ i7-7600U CPU @ 2.80GHz × 4

here is my command and log file.

./app_tracking -sensor_type XP2 -calib_file calib.yaml -record_map_only -record_path /home/ling/XP_release/boteye/apps/build/app_tracking/tmp/

app_tracking.ling-ThinkPad-X1-Carbon-5th.ling.log.WARNING.20190312-131629.log

johnjin404 avatar Mar 12 '19 06:03 johnjin404

me too and i can't save map by .......-record_map_only -record_path ~/boteye/room.pb

zhoubonan avatar Mar 12 '19 07:03 zhoubonan

i think that "path" needs an empty folder, u can try it.

johnjin404 avatar Mar 12 '19 08:03 johnjin404

emm..the result is same..

zhoubonan avatar Mar 12 '19 08:03 zhoubonan

This message should actually be WARNING instead ERROR. It basically says the Optimize3dPoints took too long, but nothing harmful happened. I'll close this issue for now.

mingyux avatar Mar 13 '19 04:03 mingyux

but the tracking program would suddenly exit without any map saved when this error(or warning) occurs. is there any running condition to avoid this problem? cause i am running it outdoors, and there was a car going across... sorry to bother, considering the problem is serious, could u tell me how to avoid this??thank u.

johnjin404 avatar Mar 13 '19 04:03 johnjin404

By "suddenly exit", do you mean app_tracking core dump / segfault? If app_tracking crashes, it will not reach the map saving part. Ideally, this should NOT happen.
Can you try the pre-built bin/app_tracking binary?

mingyux avatar Mar 13 '19 06:03 mingyux

yeah, it would crash just like the LOG file described above E0312 13:23:29.036715 19484 bundle_adjuster.cc:1601] Optimize3dPoints takes too long (overall) 125 ms map points # 59541 add_constraints_ms 116 ceres_solution_ms 8 save_result_ms 0 remove_outlier_ms 0 , but most times works fine, i will try more times to find out what happened... BY THE WAY, is there any ROS version of the "app_tracking" program?? thanks~

johnjin404 avatar Mar 15 '19 08:03 johnjin404

@johnjin404 你好，我在更新的wiki上看到说guide_receiver被弃用了..是UDP方式现在也无法用了吗？你用的是什么方式接收导航信息呢？打扰了

zhoubonan avatar Mar 18 '19 06:03 zhoubonan

@johnjin404 The ROS version is NOT included in the free version. Please contact us at https://ai.baidu.com/solution/roboticvision.

mingyux avatar Mar 18 '19 06:03 mingyux