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RTABMAP Windows C++ example #205

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ahsteven opened this issue Jun 7, 2017 · 7 comments
Closed

RTABMAP Windows C++ example #205

ahsteven opened this issue Jun 7, 2017 · 7 comments

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@ahsteven
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ahsteven commented Jun 7, 2017

I installed RTABMAP with the windows binaries and am trying to run Loop closure C++ example at the bottom of the tutorials page. I am able to build the project successfully in Visual Studio 2015 however when I run it with the sample images provided I get an exception at the line:

rtabmap::CameraImages camera(path);

Unhandled exception at 0x00007FFCADE09E08 in example.exe: Microsoft C++ exception: std::bad_alloc at memory location 0x00000041986FBF60.

Then I saw that camera is just a wrapper for cv::imread so I then tried reading the images in by the filenames manually.

Then I get a read access violation exception while executing:

parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRGBDEnabled(), "false"));

Is it because I am missing a .lib file?

When I generated the VS project with cmake the library linker additional dependencies did not turn out good, see screenshot below:

vslinker

I did not think that this loop closure example used g20 and some other dependencies anyway so I removed them. Any idea on why these .lib linker dependencies got loaded like this by cmake?

So after removing these I just have the rtabmap .lib files and teh opencv lib files as shown below
image

It is with these settings that I get the exceptions I mention above. the 32.lib linker files look suspicious.

What is the easiest way to run a c++ rtabmap example on Windows? Thanks for any help.
@matlabbe
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matlabbe commented Jun 7, 2017

Make sure you executed cmake in a Win64 terminal. Also, what is the output after the original cmake (when build folder is empty)?

$ cmake -G"Visual Studio 14 2015 Win64" ..

OpenCV should also been built the same way in a Win64 terminal, if you don't use the binaries.

cheers,
Mathieu

@ahsteven
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ahsteven commented Jun 7, 2017 via email

@matlabbe
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matlabbe commented Jun 8, 2017

Hi,

there is my cmake status on Windows 10 / Visual Studio 2015:

C:\workspace\rtabmap\build>cmake -G"Visual Studio 14 2015 Win64" ..
-- The C compiler identification is MSVC 19.0.23918.0
-- The CXX compiler identification is MSVC 19.0.23918.0
-- Check for working C compiler using: Visual Studio 14 2015 Win64
-- Check for working C compiler using: Visual Studio 14 2015 Win64 -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Check for working CXX compiler using: Visual Studio 14 2015 Win64
-- Check for working CXX compiler using: Visual Studio 14 2015 Win64 -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found eigen: C:/Program Files/Eigen/include/eigen3
-- Could NOT find openni (missing:  OPENNI_LIBRARY OPENNI_INCLUDE_DIRS)
-- Found Flann: C:/Program Files/flann/lib/flann_cpp_s.lib
-- Could NOT find openni (missing:  OPENNI_LIBRARY OPENNI_INCLUDE_DIRS)
-- Found qhull: C:/Program Files/qhull/lib/qhullstatic.lib
-- Found PCL_COMMON: C:/Program Files/PCL/lib/pcl_common_release.lib
-- Found PCL_OCTREE: C:/Program Files/PCL/lib/pcl_octree_release.lib
-- Found PCL_IO: C:/Program Files/PCL/lib/pcl_io_release.lib
-- Found PCL_KDTREE: C:/Program Files/PCL/lib/pcl_kdtree_release.lib
-- Found PCL_SEARCH: C:/Program Files/PCL/lib/pcl_search_release.lib
-- Found PCL_SAMPLE_CONSENSUS: C:/Program Files/PCL/lib/pcl_sample_consensus_release.lib
-- Found PCL_FILTERS: C:/Program Files/PCL/lib/pcl_filters_release.lib
-- Found PCL_2D: C:/Program Files/PCL/include/pcl-1.8
-- Found PCL_GEOMETRY: C:/Program Files/PCL/include/pcl-1.8
-- Found PCL_FEATURES: C:/Program Files/PCL/lib/pcl_features_release.lib
-- Found PCL_ML: C:/Program Files/PCL/lib/pcl_ml_release.lib
-- Found PCL_SEGMENTATION: C:/Program Files/PCL/lib/pcl_segmentation_release.lib
-- Found PCL_VISUALIZATION: C:/Program Files/PCL/lib/pcl_visualization_release.lib
-- Found PCL_SURFACE: C:/Program Files/PCL/lib/pcl_surface_release.lib
-- Found PCL_REGISTRATION: C:/Program Files/PCL/lib/pcl_registration_release.lib
-- Found PCL_KEYPOINTS: C:/Program Files/PCL/lib/pcl_keypoints_release.lib
-- Found PCL_TRACKING: C:/Program Files/PCL/lib/pcl_tracking_release.lib
-- Found PCL_RECOGNITION: C:/Program Files/PCL/lib/pcl_recognition_release.lib
-- Found PCL_STEREO: C:/Program Files/PCL/lib/pcl_stereo_release.lib
-- Found PCL_OUTOFCORE: C:/Program Files/PCL/lib/pcl_outofcore_release.lib
-- Found PCL_PEOPLE: C:/Program Files/PCL/lib/pcl_people_release.lib
-- Try OpenMP C flag = [/openmp]
-- Performing Test OpenMP_FLAG_DETECTED
-- Performing Test OpenMP_FLAG_DETECTED - Success
-- Try OpenMP CXX flag = [/openmp]
-- Performing Test OpenMP_FLAG_DETECTED
-- Performing Test OpenMP_FLAG_DETECTED - Success
-- Found OpenMP: /openmp
-- Found OpenMP
-- Found OpenCV: C:/Program Files (x86)/ZED SDK/dependencies/opencv_3.1.0/include;C:/Program Files (x86)/ZED SDK/dependencies/opencv_3.1.0/include/opencv
-- Found PCL: C:/Program Files/PCL/include/pcl-1.8;C:/Program Files/Eigen/include/eigen3;C:/boost_1_61_0;C:/Program Files/OpenNI2/Include;C:/Program Files (x86)/Intel/RSSDK/include;C:/Program Files/VTK/include/vtk-6.3;C:/Program Files/flann/include;C:/Program Files/qhull/include
-- Found ZLIB: C:/Program Files/zlib/include
-- Found freenect2: C:/workspace/libfreenect2/build/install/include
-- Found OpenNI2: C:/Program Files/OpenNI2/Include
-- Found CSPARSE: C:/Program Files/g2o/include/EXTERNAL/csparse
-- Found g2o: C:/Program Files/g2o/include;C:/Program Files/g2o/include/EXTERNAL/csparse
-- GTSAM include directory:  C:/Program Files/GTSAM/CMake/../include;C:/Program Files/GTSAM/include/gtsam/3rdparty/Eigen/
-- Found FlyCapture2: C:/Program Files/Point Grey Research/FlyCapture2/include;C:/Program Files/Point Grey Research/Triclops Stereo Vision SDK/include
-- Found cvsba: C:/Program Files/cvsba/include
-- Found ZED sdk: C:\Program Files (x86)\ZED SDK\include
-- Found CUDA: C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v8.0 (found version "8.0")
-- Found CUDA: C:/Program Files/NVIDIA GPU Computing Toolkit/CUDA/v8.0/include
-- Found RealSense: C:/workspace/librealsense/include
-- Found octomap: C:/Program Files/octomap-distribution/include
-- Found CPUTSDF: C:/Program Files/cpu_tsdf/include
-- --------------------------------------------
-- Info :
--   Version : 0.12.5
--   CMAKE_INSTALL_PREFIX = C:/Program Files/RTABMap
--   CMAKE_BUILD_TYPE =
--   CMAKE_INSTALL_LIBDIR = lib
--   BUILD_APP =            ON
--   BUILD_TOOLS =          ON
--   BUILD_EXAMPLES =       ON
--   CMAKE_CXX_FLAGS =  /DWIN32 /D_WINDOWS /W3 /GR /EHsc  /openmp
--   With OpenCV 3 xfeatures2d module (SIFT/SURF/BRIEF/FREAK) = YES (License: Non commercial)
--   With Freenect             = NO (libfreenect not found)
--   With OpenNI2              = YES (License: Apache v2)
--   With Freenect2            = YES (License: Apache v2 and/or GPLv2)
--   With dc1394               = NO (dc1394 not found)
--   With FlyCapture2/Triclops = YES
--   With TORO                 = YES (License: Creative Commons [Attribution-NonCommercial-ShareAlike])
--   With g2o                  = YES (License: BSD)
--   With GTSAM                = YES (License: BSD)
--   With VERTIGO              = YES (License: GPLv3)
--   With cvsba                = YES (License: GPLv2)
--   With ZED                  = YES (With CUDA)
--   With RealSense            = YES (License: Apache-2)
--   With RealSenseSlam        = NO (WITH_REALSENSE_SLAM=OFF)
--   With OCTOMAP              = YES (License: BSD)
--   With CPUTSDF              = YES (License: BSD)
--   With Qt5                  = YES (License: Open Source or Commercial)
-- --------------------------------------------
-- Configuring done
-- Generating done
-- Build files have been written to: C:/workspace/rtabmap/build

C:\workspace\rtabmap\build>cmake --version
cmake version 3.3.0

CMake suite maintained and supported by Kitware (kitware.com/cmake).

Then testing the C++ loop closure example built by default (rtabmap-bow_mapping.exe):

C:\workspace\rtabmap\bin>rtabmap-bow_mapping.exe data/samples

Processing images... from directory "data/samples"
 #1 ptime(0.212420s) STM(1) WM(0) hyp(0) value(0.00)
 #2 ptime(0.037060s) STM(2) WM(0) hyp(0) value(0.00)
 #3 ptime(0.039333s) STM(3) WM(0) hyp(0) value(0.00)
 #4 ptime(0.028221s) STM(4) WM(0) hyp(0) value(0.00)
 #5 ptime(0.027663s) STM(5) WM(0) hyp(0) value(0.00)
 #6 ptime(0.029803s) STM(6) WM(0) hyp(0) value(0.00)
 #7 ptime(0.041403s) STM(7) WM(0) hyp(0) value(0.00)
 #8 ptime(0.029140s) STM(8) WM(0) hyp(0) value(0.00)
 #9 ptime(0.026811s) STM(9) WM(0) hyp(0) value(0.00)
 #10 ptime(0.028112s) STM(10) WM(0) hyp(0) value(0.00)
 #11 ptime(0.029394s) STM(10) WM(1) hyp(1) value(0.00)
 #12 ptime(0.042664s) STM(10) WM(2) hyp(1) value(0.00)
 #13 ptime(0.030348s) STM(10) WM(3) hyp(1) value(0.00)
 #14 ptime(0.041404s) STM(10) WM(4) hyp(2) value(0.00)
 #15 ptime(0.043788s) STM(10) WM(5) hyp(5) value(0.00)
 #16 ptime(0.027905s) STM(10) WM(6) hyp(0) value(0.00)
 #17 ptime(0.028283s) STM(10) WM(7) hyp(0) value(0.00)
 #18 ptime(0.028261s) STM(10) WM(8) hyp(0) value(0.00)
 #19 ptime(0.028510s) STM(10) WM(9) hyp(0) value(0.00)
 #20 ptime(0.043865s) STM(10) WM(10) hyp(5) value(0.00)
 #21 ptime(0.029427s) STM(10) WM(11) hyp(1) value(0.00)
 #22 ptime(0.042447s) STM(10) WM(12) hyp(5) value(0.00)
 #23 ptime(0.028039s) STM(10) WM(13) hyp(4) value(0.00)
 #24 ptime(0.027994s) STM(10) WM(14) hyp(6) value(0.00)
 #25 ptime(0.027949s) STM(10) WM(15) hyp(0) value(0.00)
 #26 ptime(0.035269s) STM(10) WM(16) hyp(11) value(0.00)
 #27 ptime(0.038687s) STM(10) WM(17) hyp(11) value(0.00)
 #28 ptime(0.039652s) STM(10) WM(18) hyp(7) value(0.00)
 #29 ptime(0.043627s) STM(10) WM(19) hyp(15) value(0.00)
 #30 ptime(0.045455s) STM(10) WM(20) hyp(12) value(0.00)
 #31 ptime(0.038969s) STM(10) WM(21) hyp(1) value(0.00)
 #32 ptime(0.037878s) STM(10) WM(22) hyp(4) value(0.00)
 #33 ptime(0.041689s) STM(10) WM(23) hyp(2) value(0.00)
 #34 ptime(0.049338s) STM(10) WM(24) hyp(1) value(0.00)
 #35 ptime(0.044474s) STM(10) WM(25) hyp(14) value(0.00)
 #36 ptime(0.048785s) STM(10) WM(26) hyp(7) value(0.00)
 #37 ptime(0.032092s) STM(10) WM(27) hyp(15) value(0.00)
 #38 ptime(0.038900s) STM(10) WM(28) hyp(14) value(0.00)
 #39 ptime(0.039281s) STM(10) WM(29) hyp(13) value(0.00)
 #40 ptime(0.034810s) STM(10) WM(30) hyp(0) value(0.00)
 #41 ptime(0.040739s) STM(10) WM(31) hyp(2) value(0.13) *LOOP 41->2*
 #42 ptime(0.029568s) STM(10) WM(32) hyp(3) value(0.17) *LOOP 42->3*
 #43 ptime(0.039620s) STM(10) WM(33) hyp(4) value(0.21) *LOOP 43->4*
 #44 ptime(0.037922s) STM(10) WM(34) hyp(4) value(0.22) *LOOP 44->4*
 #45 ptime(0.039963s) STM(10) WM(35) hyp(6) value(0.25) *LOOP 45->6*
 #46 ptime(0.027503s) STM(10) WM(36) hyp(0) value(0.00)
 #47 ptime(0.038336s) STM(10) WM(37) hyp(7) value(0.27) *LOOP 47->7*
 #48 ptime(0.030060s) STM(10) WM(38) hyp(9) value(0.29) *LOOP 48->9*
 #49 ptime(0.042762s) STM(10) WM(39) hyp(10) value(0.30) *LOOP 49->10*
 #50 ptime(0.039354s) STM(10) WM(40) hyp(11) value(0.32) *LOOP 50->11*
 #51 ptime(0.040921s) STM(10) WM(41) hyp(11) value(0.40) *LOOP 51->11*
 #52 ptime(0.030265s) STM(10) WM(42) hyp(13) value(0.46) *LOOP 52->13*
 #53 ptime(0.030925s) STM(10) WM(43) hyp(14) value(0.52) *LOOP 53->14*
 #54 ptime(0.034514s) STM(10) WM(44) hyp(14) value(0.60) *LOOP 54->14*
 #55 ptime(0.040315s) STM(10) WM(45) hyp(15) value(0.59) *LOOP 55->15*
 #56 ptime(0.022376s) STM(10) WM(46) hyp(0) value(0.00)
 #57 ptime(0.036058s) STM(10) WM(47) hyp(0) value(0.00)
 #58 ptime(0.023427s) STM(10) WM(48) hyp(0) value(0.00)
 #59 ptime(0.027829s) STM(10) WM(49) hyp(0) value(0.00)
 #60 ptime(0.031508s) STM(10) WM(50) hyp(15) value(0.43) *LOOP 60->15*
 #61 ptime(0.032047s) STM(10) WM(51) hyp(21) value(0.37) *LOOP 61->21*
 #62 ptime(0.035494s) STM(10) WM(52) hyp(22) value(0.37) *LOOP 62->22*
 #63 ptime(0.033199s) STM(10) WM(53) hyp(23) value(0.43) *LOOP 63->23*
 #64 ptime(0.029322s) STM(10) WM(54) hyp(24) value(0.55) *LOOP 64->24*
 #65 ptime(0.033770s) STM(10) WM(55) hyp(0) value(0.00)
 #66 ptime(0.034588s) STM(10) WM(56) hyp(26) value(0.49) *LOOP 66->26*
 #67 ptime(0.044351s) STM(10) WM(57) hyp(27) value(0.48) *LOOP 67->27*
 #68 ptime(0.049305s) STM(10) WM(58) hyp(28) value(0.48) *LOOP 68->28*
 #69 ptime(0.038375s) STM(10) WM(59) hyp(30) value(0.49) *LOOP 69->30*
 #70 ptime(0.038834s) STM(10) WM(60) hyp(31) value(0.47) *LOOP 70->31*
 #71 ptime(0.037154s) STM(10) WM(61) hyp(32) value(0.45) *LOOP 71->32*
 #72 ptime(0.042587s) STM(10) WM(62) hyp(33) value(0.48) *LOOP 72->33*
 #73 ptime(0.047081s) STM(10) WM(63) hyp(34) value(0.44) *LOOP 73->34*
 #74 ptime(0.048294s) STM(10) WM(64) hyp(35) value(0.45) *LOOP 74->35*
 #75 ptime(0.034725s) STM(10) WM(65) hyp(36) value(0.52) *LOOP 75->36*
 #76 ptime(0.042964s) STM(10) WM(66) hyp(37) value(0.68) *LOOP 76->37*
 #77 ptime(0.037979s) STM(10) WM(67) hyp(38) value(0.79) *LOOP 77->38*
 #78 ptime(0.054263s) STM(10) WM(68) hyp(39) value(0.83) *LOOP 78->39*
 #79 ptime(0.027939s) STM(10) WM(69) hyp(39) value(0.82) *LOOP 79->39*
 #80 ptime(0.023227s) STM(10) WM(70) hyp(0) value(0.00)
 #81 ptime(0.035671s) STM(10) WM(71) hyp(41) value(0.78) *LOOP 81->41*
 #82 ptime(0.032199s) STM(10) WM(72) hyp(42) value(0.77) *LOOP 82->42*
 #83 ptime(0.037945s) STM(10) WM(73) hyp(3) value(0.79) *LOOP 83->3*
 #84 ptime(0.044736s) STM(10) WM(74) hyp(4) value(0.77) *LOOP 84->4*
Processing images completed. Loop closures found = 37
Generated graph "Graph.dot", viewable with Graphiz using "neato -Tpdf Graph.dot -o out.pdf"
Saving Long-Term Memory to "rtabmap.db"...

The OpenCV version is the one from ZED sdk, but it should be okay with the standard OpenCV binaries.

cheers,
Mathieu

@ahsteven
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ahsteven commented Jun 8, 2017 via email

@ahsteven
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ahsteven commented Jun 8, 2017 via email

@matlabbe matlabbe closed this as completed Jul 4, 2017
@frischzenger
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onecore\net\netprofiles\service\src\nsp\dll\namespaceserviceprovider.cpp(550)\nlansp_c.dll!00007FFB15FCD93D: (caller: 00007FFB3F24ACF6) LogHr(72) tid(793c) 8007277C
'RTABMap.exe' (Win32): Unloaded 'C:\Windows\System32\msftedit.dll'
The thread 0x8574 has exited with code 0 (0x0).
The thread 0x87dc has exited with code 0 (0x0).
The thread 0x79e8 has exited with code 0 (0x0).
The thread 0x7cc8 has exited with code 0 (0x0).
The thread 0x5f48 has exited with code 0 (0x0).
Exception thrown at 0x00007FFB3E7EFDEC in RTABMap.exe: Microsoft C++ exception: cv::Exception at memory location 0x000000483CE7E898.
Unhandled exception at 0x00007FFB3E7EFDEC in RTABMap.exe: Microsoft C++ exception: cv::Exception at memory location 0x000000483CE7E898.

i 've also meet this problem, i have try it on vs2019, but crashed

@frischzenger
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frischzenger commented May 12, 2023 •
edited

after read 3 pair of rgb/depth images, it crashes,
it reports:
OpenCV(3.4.11) Error: Assertion failed (res != 0) in cv::Mat::elemSize, file D:\AllLibs\opencv-3.4.11\build\install\include\opencv2/core/mat.inl.hpp, line 955

but release mode is fine

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@matlabbe @frischzenger @ahsteven