Re: Global Optimizing with Loop Closure and Navigation After Mapping.

Posted by imran05 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Global-Optimizing-with-Loop-Closure-and-Navigation-After-Mapping-tp11061p11100.html

Hello,
Thank you for your previous suggestions regarding camera calibration. After several attempts, I was able to achieve the following reprojection errors:

rgb Reprojection Error: 1.588567
Reprojection error threshold -> 1.1111111111111112
left Reprojection Error: 0.157160
Reprojection error threshold -> 1.1111111111111112
right Reprojection Error: 0.174798
Flashing Calibration data into

For your 2nd suggestion can you please let me know that how i fix the stereo_sync issue as I am using the rtabmap_launch file.
For the 4th suggestion i tried to install the Superpoint but i am facing the similar issues like "https://github.com/introlab/rtabmap/issues/1221" even i followed the instruction also in this post but i am still getting the same. and when i installed the tensorflow for only CPU and build rtabmap with that them, the rtabmap is closing by saying the below error:

rminate called after throwing an instance of 'c10::Error'
  what():  PytorchStreamReader failed reading zip archive: failed finding central directory
Exception raised from valid at ../caffe2/serialize/inline_container.cc:228 (most recent call first):
frame #0: c10::Error::Error(c10::SourceLocation, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >) + 0x6c (0x7f16a857ba0c in /home/darlab/libtorch/lib/libc10.so)
frame #1: c10::detail::torchCheckFail(char const*, char const*, unsigned int, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) + 0xfa (0x7f16a85258bc in /home/darlab/libtorch/lib/libc10.so)
frame #2: caffe2::serialize::PyTorchStreamReader::valid(char const*, char const*) + 0x35b (0x7f16903a1b9b in /home/darlab/libtorch/lib/libtorch_cpu.so)
frame #3: caffe2::serialize::PyTorchStreamReader::init() + 0xb1 (0x7f16903a60f1 in /home/darlab/libtorch/lib/libtorch_cpu.so)
frame #4: caffe2::serialize::PyTorchStreamReader::PyTorchStreamReader(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&) + 0x185 (0x7f16903a8e15 in /home/darlab/libtorch/lib/libtorch_cpu.so)
frame #5: torch::jit::import_ir_module(std::shared_ptr<torch::jit::CompilationUnit>, std::_cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::optional<c10::Device>, std::unordered_map<std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::hash<std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::equal_to<std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::_cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > >&, bool, bool) + 0x2c8 (0x7f16917a9908 in /home/darlab/libtorch/lib/libtorch_cpu.so)
frame #6: torch::jit::import_ir_module(std::shared_ptr<torch::jit::CompilationUnit>, std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::optional<c10::Device>, bool) + 0x92 (0x7f16917a9cd2 in /home/darlab/libtorch/lib/libtorch_cpu.so)
frame #7: torch::jit::load(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::optional<c10::Device>, bool) + 0xc0 (0x7f16917a9de0 in /home/darlab/libtorch/lib/libtorch_cpu.so)
frame #8: torch::serialize::InputArchive::load_from(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, std::optional<c10::Device>) + 0x3c (0x7f1691eb219c in /home/darlab/libtorch/lib/libtorch_cpu.so)
frame #9: void torch::load<std::shared_ptr<rtabmap::SuperPoint>, std::_cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >(std::shared_ptr<rtabmap::SuperPoint>&, std::_cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >&&) + 0x47 (0x7f16b07ec2e7 in /usr/local/lib/librtabmap_core.so.0.21)
frame #10: rtabmap::SPDetector::SPDetector(std::__cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, float, bool, int, bool) + 0x1d0 (0x7f16b07e8330 in /usr/local/lib/librtabmap_core.so.0.21)
frame #11: rtabmap::SuperPointTorch::parseParameters(std::map<std::_cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::_cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const&) + 0x210 (0x7f16b0419620 in /usr/local/lib/librtabmap_core.so.0.21)
frame #12: rtabmap::SuperPointTorch::SuperPointTorch(std::map<std::_cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::_cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const&) + 0xcb (0x7f16b041983b in /usr/local/lib/librtabmap_core.so.0.21)
frame #13: rtabmap::Feature2D::create(rtabmap::Feature2D::Type, std::map<std::_cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::_cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const&) + 0xff (0x7f16b041997f in /usr/local/lib/librtabmap_core.so.0.21)
frame #14: rtabmap::Feature2D::create(std::map<std::_cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::_cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const&) + 0xb3 (0x7f16b0419ba3 in /usr/local/lib/librtabmap_core.so.0.21)
frame #15: rtabmap::Memory::Memory(std::map<std::_cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::_cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const&) + 0x398 (0x7f16b02bb838 in /usr/local/lib/librtabmap_core.so.0.21)
frame #16: rtabmap::Rtabmap::init(std::map<std::_cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> >, std::less<std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > >, std::allocator<std::pair<std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const, std::cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > > > > const&, std::_cxx11::basic_string<char, std::char_traits<char>, std::allocator<char> > const&, bool) + 0xe47 (0x7f16b02435f7 in /usr/local/lib/librtabmap_core.so.0.21)
frame #17: rtabmap::RtabmapThread::mainLoop() + 0x5b3 (0x7f16b028cfd3 in /usr/local/lib/librtabmap_core.so.0.21)
frame #18: UThread::ThreadMain() + 0x51 (0x7f16afe808b1 in /usr/local/lib/librtabmap_utilite.so.0.21)
frame #19: UThreadC<void>::ThreadMainHandler(UThreadC<void>::Instance*) + 0xa9 (0x7f16afe80bd9 in /usr/local/lib/librtabmap_utilite.so.0.21)
frame #20: <unknown function> + 0x8609 (0x7f16aaa24609 in /lib/x86_64-linux-gnu/libpthread.so.0)
frame #21: clone + 0x43 (0x7f16aefb0353 in /lib/x86_64-linux-gnu/libc.so.6)

Aborted (core dumped)
darlab@darlab-Inspiron-7501:~/rtabmap/build$