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Stuck at "Initialization succeeded with E" #200

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GokulEpiphany opened this issue Dec 12, 2019 · 11 comments
Closed

Stuck at "Initialization succeeded with E" #200

GokulEpiphany opened this issue Dec 12, 2019 · 11 comments

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@GokulEpiphany
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Thanks for this versatile framework.
Followed through the simple tutorial:
PangolinViewer (both Map and Frame) opens up but no mapping occurs.
The only difference from the installation is I'm using opencv4.x and not Opencv3.4.0 (Could this be the issue?)
Also, I'm running this on jetson nano.

Fyi,
[2019-12-12 19:45:36.156] [I] config file loaded: aist_living_lab_1/config.yaml

/ _ \ _ __ ___ _ \ \ / / __| | /\ | / |
| () | ' / -) ' \ V /_ \ |__ / _ | |/| |
_/| ./_||||_/ |/// __| ||
||

Copyright (C) 2019,
National Institute of Advanced Industrial Science and Technology (AIST)
All rights reserved.

This is free software,
and you are welcome to redistribute it under certain conditions.
See the LICENSE file.

Camera Configuration:

  • name: RICOH THETA S 960
  • setup: Monocular
  • fps: 30
  • cols: 1920
  • rows: 960
  • color: RGB
  • model: Equirectangular
    ORB Configuration:
  • number of keypoints: 2000
  • scale factor: 1.2
  • number of levels: 8
  • initial fast threshold: 20
  • minimum fast threshold: 7
  • mask rectangles:
    • [0, 1, 0, 0.1]
    • [0, 1, 0.84, 1]
    • [0, 0.2, 0.7, 1]
    • [0.8, 1, 0.7, 1]

[2019-12-12 19:45:36.157] [I] loading ORB vocabulary: orb_vocab/orb_vocab.dbow2
[2019-12-12 19:45:37.522] [I] startup SLAM system
[2019-12-12 19:45:37.522] [I] start mapping module
[2019-12-12 19:45:37.522] [I] start global optimization module
[2019-12-12 19:45:38.580] [I] initialization succeeded with E

Please let me know if you have any ideas. It would be useful in debugging.
@shinsumicco
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@GokulEpiphany
Could you post a log which is printed with --debug option?
After initialization succeeded with E, does the program terminate abnormally (e.g. SIGSEGV, SIGILL) or stuck before termination?

@GokulEpiphany
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Thanks for looking into it.
The program does not terminate but nothing happens.
I'm running the following command:
./run_video_slam -v orb_vocab/orb_vocab.dbow2 -c aist_living_lab_1/config.yaml -m aist_living_lab_1/video.mp4 --frame-skip 10 --map-db aist_living_lab_1_map.msg --debug

[2019-12-14 17:31:02.284] [D] CONSTRUCT: config
[2019-12-14 17:31:02.284] [I] config file loaded: aist_living_lab_1/config.yaml
[2019-12-14 17:31:02.284] [D] load camera model type
[2019-12-14 17:31:02.285] [D] load camera model parameters
[2019-12-14 17:31:02.285] [D] CONSTRUCT: camera::base
[2019-12-14 17:31:02.285] [D] CONSTRUCT: camera::equirectangular
[2019-12-14 17:31:02.285] [D] compute image bounds
[2019-12-14 17:31:02.285] [D] load ORB parameters
[2019-12-14 17:31:02.285] [D] load tracking parameters
[2019-12-14 17:31:02.286] [D] load depth threshold
[2019-12-14 17:31:02.286] [D] load depthmap factor
[2019-12-14 17:31:02.286] [D] CONSTRUCT: system

/ _ \ _ __ ___ _ \ \ / / __| | /\ | / |
| () | ' / -) ' \ V /_ \ |__ / _ | |/| |
_/| ./_||||_/ |/// __| ||
||

Copyright (C) 2019,
National Institute of Advanced Industrial Science and Technology (AIST)
All rights reserved.

This is free software,
and you are welcome to redistribute it under certain conditions.
See the LICENSE file.

Camera Configuration:

  • name: RICOH THETA S 960
  • setup: Monocular
  • fps: 30
  • cols: 1920
  • rows: 960
  • color: RGB
  • model: Equirectangular
    ORB Configuration:
  • number of keypoints: 2000
  • scale factor: 1.2
  • number of levels: 8
  • initial fast threshold: 20
  • minimum fast threshold: 7
  • mask rectangles:
    • [0, 1, 0, 0.1]
    • [0, 1, 0.84, 1]
    • [0, 0.2, 0.7, 1]
    • [0.8, 1, 0.7, 1]

[2019-12-14 17:31:02.286] [I] loading ORB vocabulary: orb_vocab/orb_vocab.dbow2
[2019-12-14 17:31:03.673] [D] CONSTRUCT: data::camera_database
[2019-12-14 17:31:03.673] [D] CONSTRUCT: data::map_database
[2019-12-14 17:31:03.673] [D] CONSTRUCT: data::bow_database
[2019-12-14 17:31:03.693] [D] CONSTRUCT: publish::frame_publisher
[2019-12-14 17:31:03.693] [D] CONSTRUCT: publish::map_publisher
[2019-12-14 17:31:03.693] [D] CONSTRUCT: module::initializer
[2019-12-14 17:31:03.693] [D] CONSTRUCT: module::relocalizer
[2019-12-14 17:31:03.693] [D] CONSTRUCT: tracking_module
[2019-12-14 17:31:03.693] [D] CONSTRUCT: mapping_module
[2019-12-14 17:31:03.693] [D] CONSTRUCT: global_optimization_module
[2019-12-14 17:31:03.693] [I] startup SLAM system
[2019-12-14 17:31:03.694] [I] start mapping module
[2019-12-14 17:31:03.694] [I] start global optimization module
[2019-12-14 17:31:04.250] [D] CONSTRUCT: initialize::bearing_vector
[2019-12-14 17:31:04.960] [I] initialization succeeded with E
[2019-12-14 17:31:04.960] [D] DESTRUCT: initialize::bearing_vector

@shinsumicco
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Hmm... It seems an issue related to optimization with g2o, but I could not find out the cause for the log you posted.
We continuously inspect it.

What version (commit hash) of g2o are you using for OpenVSLAM?

@GokulEpiphany
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Using the same version as mentioned in instructions:
git checkout 9b41a4ea5ade8e1250b9c1b279f3a9c098811b5a

Do let me know if anything pops up. Thanks for the reply.

@fhirmann
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Hi,

It seems like I have a similar issue.

I installed OpenVSLAM as described at https://openvslam.readthedocs.io/en/master/installation.html and tried the very basic tutorial from https://openvslam.readthedocs.io/en/master/simple_tutorial.html. However, I also get stuck at the very beginning.

My system is Ubuntu 18.04. I also tried to build it with -DBUILD_WITH_MARCH_NATIVE=OFF but it's the same result.

My output (with --debug) is:

./run_video_slam -v ./orb_vocab/orb_vocab.dbow2 -m ./aist_living_lab_1/video.mp4 -c
./aist_living_lab_1/config.yaml --frame-skip 3 --no-sleep --map-db map.msg --debug
[2019-12-30 17:40:37.394] [D] CONSTRUCT: config
[2019-12-30 17:40:37.394] [I] config file loaded: ./aist_living_lab_1/config.yaml
[2019-12-30 17:40:37.394] [D] load camera model type
[2019-12-30 17:40:37.394] [D] load camera model parameters
[2019-12-30 17:40:37.394] [D] CONSTRUCT: camera::base
[2019-12-30 17:40:37.394] [D] CONSTRUCT: camera::equirectangular
[2019-12-30 17:40:37.394] [D] compute image bounds
[2019-12-30 17:40:37.394] [D] load ORB parameters
[2019-12-30 17:40:37.395] [D] load tracking parameters
[2019-12-30 17:40:37.395] [D] load depth threshold
[2019-12-30 17:40:37.395] [D] load depthmap factor
[2019-12-30 17:40:37.395] [D] CONSTRUCT: system

/ _ \ _ __ ___ _ \ \ / / __| | /\ | / |
| () | ' / -) ' \ V /_ \ |__ / _ | |/| |
_/| ./_||||_/ |/// __| ||
||

Copyright (C) 2019,
National Institute of Advanced Industrial Science and Technology (AIST)
All rights reserved.

This is free software,
and you are welcome to redistribute it under certain conditions.
See the LICENSE file.

Camera Configuration:

  • name: RICOH THETA S 960
  • setup: Monocular
  • fps: 30
  • cols: 1920
  • rows: 960
  • color: RGB
  • model: Equirectangular
    ORB Configuration:
  • number of keypoints: 2000
  • scale factor: 1.2
  • number of levels: 8
  • initial fast threshold: 20
  • minimum fast threshold: 7
  • mask rectangles:
    • [0, 1, 0, 0.1]
    • [0, 1, 0.84, 1]
    • [0, 0.2, 0.7, 1]
    • [0.8, 1, 0.7, 1]

[2019-12-30 17:40:37.395] [I] loading ORB vocabulary: ./orb_vocab/orb_vocab.dbow2
[2019-12-30 17:40:37.931] [D] CONSTRUCT: data::camera_database
[2019-12-30 17:40:37.931] [D] CONSTRUCT: data::map_database
[2019-12-30 17:40:37.931] [D] CONSTRUCT: data::bow_database
[2019-12-30 17:40:37.932] [D] CONSTRUCT: publish::frame_publisher
[2019-12-30 17:40:37.932] [D] CONSTRUCT: publish::map_publisher
[2019-12-30 17:40:37.932] [D] CONSTRUCT: module::initializer
[2019-12-30 17:40:37.932] [D] CONSTRUCT: module::relocalizer
[2019-12-30 17:40:37.932] [D] CONSTRUCT: tracking_module
[2019-12-30 17:40:37.932] [D] CONSTRUCT: mapping_module
[2019-12-30 17:40:37.932] [D] CONSTRUCT: global_optimization_module
[2019-12-30 17:40:37.932] [I] startup SLAM system
[2019-12-30 17:40:37.932] [I] start mapping module
[2019-12-30 17:40:37.932] [I] start global optimization module
[2019-12-30 17:40:38.061] [D] CONSTRUCT: initialize::bearing_vector
[2019-12-30 17:40:38.152] [I] initialization succeeded with E
[2019-12-30 17:40:38.152] [D] DESTRUCT: initialize::bearing_vector

I appreciate any help.

Thanks,
Fabian

@EliasBjorne
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EliasBjorne commented Jan 6, 2020 •
edited
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I have the same issue. I also had problems when I compiled OpenCV from source and also having CUDA 10. I did the fix according to opencv/issues/1786(cmake -DBUILD_opencv_cudacodec=OFF ...). I don't know if this has anything to do with the problem. Please let me know if anyone figures something out

(edited 1) By changing the frame-skip parameter, it seems like it is running until landmarks are calculated, and then it stalls.

Thanks
Elias

@YujiElfahkrany
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YujiElfahkrany commented Mar 30, 2020 •
edited
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I had the same issue and it was fixed after I removed ros-melodic-libg2o using synaptic

@rahuldeo2047
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@YujiElfahkrany : same

@seraaaayeo seraaaayeo mentioned this issue Apr 19, 2020
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@seraaaayeo
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@YujiElfahkrany I fixed the problem. Thx

@GokulEpiphany
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@YujiElfahkrany Your solution seems to have worked. Thanks. Closing

@rashikshrestha
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I had the same issue and it was fixed after I removed ros-melodic-libg2o using synaptic

Thanks, it worked for me too :)

@ryleymcc ryleymcc mentioned this issue Oct 20, 2021
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@GokulEpiphany @shinsumicco @rahuldeo2047 @fhirmann @rashikshrestha @YujiElfahkrany @EliasBjorne @seraaaayeo