problems running RtabMap with ORB_SLAM
Posted by nate_z on
URL: http://official-rtab-map-forum.206.s1.nabble.com/problems-running-RtabMap-with-ORB-SLAM-tp5172.html
Hello,
i am trying to run rtabmap with ORB_SLAM2: i have managed to do a successful build. and odom strategy is set to 5 as directed. then i ran:
./rtabmap-rgbd_dataset --OdomORBSLAM2/VocPath "/home/natnael/ORB_SLAM2/Vocabulary/ORBvoc.txt" /home/natnael/rtabmap/bin/data/rgbd_dataset_freiburg1_desk
and recieved:
Paths:
Dataset name: rgbd_dataset_freiburg1_desk
Dataset path: /home/natnael/rtabmap/bin/data/rgbd_dataset_freiburg1_desk
RGB path: /home/natnael/rtabmap/bin/data/rgbd_dataset_freiburg1_desk/rgb_sync
Depth path: /home/natnael/rtabmap/bin/data/rgbd_dataset_freiburg1_desk/depth_sync
Output: /home/natnael/rtabmap/bin/data/rgbd_dataset_freiburg1_desk
Output name: rtabmap
groundtruth.txt: /home/natnael/rtabmap/bin/data/rgbd_dataset_freiburg1_desk/groundtruth.txt
Parameters:
OdomORBSLAM2/VocPath=/home/natnael/ORB_SLAM2/Vocabulary/ORBvoc.txt
Rtabmap/PublishRAMUsage=true
Rtabmap/WorkingDirectory=/home/natnael/rtabmap/bin/data/rgbd_dataset_freiburg1_desk
RTAB-Map version: 0.18.0
[ WARN] (2018-11-10 23:58:54.597) CameraModel.cpp:286::load() Missing "distorsion_coefficients" field in "/home/natnael/rtabmap/bin/data/rgbd_dataset_freiburg1_desk/rtabmap_calib.yaml"
[ WARN] (2018-11-10 23:58:54.597) CameraModel.cpp:307::load() Missing "distortion_model" field in "/home/natnael/rtabmap/bin/data/rgbd_dataset_freiburg1_desk/rtabmap_calib.yaml"
[ WARN] (2018-11-10 23:58:54.597) CameraModel.cpp:323::load() Missing "rectification_matrix" field in "/home/natnael/rtabmap/bin/data/rgbd_dataset_freiburg1_desk/rtabmap_calib.yaml"
[ WARN] (2018-11-10 23:58:54.597) CameraModel.cpp:339::load() Missing "projection_matrix" field in "/home/natnael/rtabmap/bin/data/rgbd_dataset_freiburg1_desk/rtabmap_calib.yaml"
[ WARN] (2018-11-10 23:58:54.748) CameraImages.cpp:402::readPoses() Cannot interpolate pose for stamp 1305031467.459692 between 1305031467.459200 and 1305031467.509200 (> maximum time diff of 0.020000 sec)
[ WARN] (2018-11-10 23:58:54.748) CameraImages.cpp:402::readPoses() Cannot interpolate pose for stamp 1305031467.496058 between 1305031467.459200 and 1305031467.509200 (> maximum time diff of 0.020000 sec)
[ WARN] (2018-11-10 23:58:54.752) CameraImages.cpp:428::readPoses() 571 valid poses of 573 stamps
Processing 573 images...
[ WARN] (2018-11-10 23:58:54.766) OdometryORBSLAM2.cpp:557::ORBSLAM2System() Loading ORB Vocabulary: "/home/natnael/ORB_SLAM2/Vocabulary/ORBvoc.txt". This could take a while...
[ WARN] (2018-11-10 23:59:01.365) OdometryORBSLAM2.cpp:568::ORBSLAM2System() Vocabulary loaded!
Camera Parameters:
- fx: 517.3
- fy: 516.5
- cx: 318.6
- cy: 255.3
- k1: 0
- k2: 0
- p1: 0
- p2: 0
- fps: 30
- color order: RGB (ignored if grayscale)
ORB Extractor Parameters:
- Number of Features: 1000
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7
Depth Threshold (Close/Far Points): 3.04
New map created with 946 points
Iteration 1/573: camera=34ms, odom(quality=946/0, kfs=0)=42ms, slam=32ms
Segmentation fault (core dumped)
bt gives:
(gdb) bt
#0 0x00007ffff42baaa7 in g2o::BaseVertex<6, g2o::SE3Quat>::pop() () from /home/natnael/ORB_SLAM2/Thirdparty/g2o/lib/libg2o.so
#1 0x00007ffff42f8e68 in g2o::SparseOptimizer::pop(std::vector<g2o::OptimizableGraph::Vertex*, std::allocator<g2o::OptimizableGraph::Vertex*> >&) ()
from /home/natnael/ORB_SLAM2/Thirdparty/g2o/lib/libg2o.so
#2 0x00007ffff4302f34 in g2o::OptimizationAlgorithmLevenberg::solve(int, bool) () from /home/natnael/ORB_SLAM2/Thirdparty/g2o/lib/libg2o.so
#3 0x00007ffff42fa487 in g2o::SparseOptimizer::optimize(int, bool) () from /home/natnael/ORB_SLAM2/Thirdparty/g2o/lib/libg2o.so
#4 0x00007ffff3ff59bf in ORB_SLAM2::Optimizer::PoseOptimization(ORB_SLAM2::Frame*) () from /home/natnael/ORB_SLAM2/lib/libORB_SLAM2.so
#5 0x00007ffff3f9144f in ORB_SLAM2::Tracking::TrackReferenceKeyFrame() () from /home/natnael/ORB_SLAM2/lib/libORB_SLAM2.so
#6 0x00007ffff76cbec7 in ORB_SLAM2::Tracker::Track (this=0xefb66d0) at /home/natnael/rtabmap/corelib/src/odometry/OdometryORBSLAM2.cpp:103
#7 0x00007ffff76ce399 in ORB_SLAM2::Tracker::GrabImageRGBD (this=0xefb66d0, imRGB=..., imD=..., timestamp=@0x7fffffff45e0: 1305031453.39169)
at /home/natnael/rtabmap/corelib/src/odometry/OdometryORBSLAM2.cpp:494
#8 0x00007ffff76c918d in rtabmap::OdometryORBSLAM2::computeTransform (this=0x9ebfe0, data=..., guess=..., info=0x7fffffff8b50) at /home/natnael/rtabmap/corelib/src/odometry/OdometryORBSLAM2.cpp:909
#9 0x00007ffff7640f0b in rtabmap::Odometry::process (this=0x9ebfe0, data=..., guessIn=..., info=0x7fffffff8b50) at /home/natnael/rtabmap/corelib/src/Odometry.cpp:416
#10 0x00007ffff763f634 in rtabmap::Odometry::process (this=0x9ebfe0, data=..., info=0x7fffffff8b50) at /home/natnael/rtabmap/corelib/src/Odometry.cpp:237
#11 0x000000000044aa95 in main (argc=5, argv=0x7fffffffd368) at /home/natnael/rtabmap/tools/RgbdDataset/main.cpp:245
any suggestions for solutions?
thanks in advance