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Hi,

I got MD_SLAM to run on the ETH3 datasets like plant_2. However, I wanted to run it on longer bag files like the office_1/2. At the moment when I run, the process starts but then closes immediately. The specific command I ran was

rosrun md_slam slam -i /working_dir/office_1.bag -c /catkin_ws/src/ba_md_slam/configs/rgbd/eth3d_configuration.json -e

The full output from MD_SLAM is as follows:

rgv with pid: /catkin_ws/devel/lib/md_slam/slam_3349
InitEnvMap
env_map: addr 0x7fc1ce9273a0, size 63
InitEnvMap
skip
env_map: addr 0x7fc1ce9273a0, size 63

device number: 0
device name: NVIDIA GeForce GTX 1080
memory clock rate [KHz]: 5005000
memory bus width [bits]: 256
peak memory bandwidth [GB/s]: 320.320000
shared mem size per block [KB]: 49152

---

crawlForFile| scanning dir [/catkin_ws/src/ba_md_slam]
crawlForFile| found path [/catkin_ws/src/ba_md_slam/dl.conf]
DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_point_cloud_library.so ] ... DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_viewer_core_ros_library.so ] ... DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_core_library.so ] ... DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_types2d_library.so ] ... DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_sparse_block_matrix_library.so ] ... DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_extras_types2d_library.so ] ... DynamicLoaderConfig|unable to find [ libsrrg2_solver_extras_types2d_library.so ] in paths
DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_factor_graph_utils_library.so ] ... DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_calib_utils_library.so ] ... DynamicLoaderConfig|unable to find [ libsrrg2_solver_calib_utils_library.so ] in paths
DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_calib_library.so ] ... DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_types3d_library.so ] ... DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_linear_solvers_library.so ] ... DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_projective_library.so ] ... DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_extras_types3d_library.so ] ... DynamicLoaderConfig|unable to find [ libsrrg2_solver_extras_types3d_library.so ] in paths
DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_star_library.so ] ... DynamicLoaderConfig|unable to find [ libsrrg2_solver_star_library.so ] in paths
DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_messages_ros_library.so ] ... DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_matchable_library.so ] ... DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libmd_slam_library.so ] ... DynamicLoaderConfig|found [ 13/17 ] libraries
PropertyContainerManager::initFactory|opening library [ /catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_point_cloud_library.so] ... SUCCESS
PropertyContainerManager::initFactory|opening library [ /catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_viewer_core_ros_library.so] ... SUCCESS
PropertyContainerManager::initFactory|opening library [ /catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_core_library.so] ... SUCCESS
PropertyContainerManager::initFactory|opening library [ /catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_types2d_library.so] ... SUCCESS
PropertyContainerManager::initFactory|opening library [ /catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_sparse_block_matrix_library.so] ... SUCCESS
PropertyContainerManager::initFactory|opening library [ /catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_factor_graph_utils_library.so] ... SUCCESS
PropertyContainerManager::initFactory|opening library [ /catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_calib_library.so] ... SUCCESS
PropertyContainerManager::initFactory|opening library [ /catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_types3d_library.so] ... SUCCESS
PropertyContainerManager::initFactory|opening library [ /catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_linear_solvers_library.so] ... SUCCESS
PropertyContainerManager::initFactory|opening library [ /catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_projective_library.so] ... SUCCESS
PropertyContainerManager::initFactory|opening library [ /catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_messages_ros_library.so] ... SUCCESS
PropertyContainerManager::initFactory|opening library [ /catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_matchable_library.so] ... SUCCESS
PropertyContainerManager::initFactory|opening library [ /catkin_ws/devel/share/common-lisp/../../lib/libmd_slam_library.so] ... SUCCESS
PropertyContainerManager::initFactory|opened [ 13/13 ] libraries
MDCloser::total number of closures 0
joining closure thread...
PropertyContainerManager::initFactory|loaded config paths from file [ /catkin_ws/src/ba_md_slam/dl.conf ]
running md slam ...
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'

Any help is appreciated!

Hi,

I have been using the docker method and have finished all the steps mentioned on the README. However, when I try to execute rosrun md_slam.. it does not find it. I can see the srrg packages were install using gpu_build but md_slam was not. Is there some step that I am missing? Any help is appreciated!

I try the docker image, and the running errors as follow:

running md slam ...
unspecified launch failure in /catkin_ws/src/ba_md_slam/md_slam/src/md_slam/pyramid_level.cu at line 196.

I build the docker from nvidia/cuda:11.8.0-cudnn8-devel-ubuntu20.04.

I try your docker image and encounter this error:

DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_point_cloud_library.so ] ... DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_viewer_core_ros_library.so ] ... DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_core_library.so ] ... DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_types2d_library.so ] ... DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_sparse_block_matrix_library.so ] ... DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_extras_types2d_library.so ] ... DynamicLoaderConfig|unable to find [ libsrrg2_solver_extras_types2d_library.so ] in paths
DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_factor_graph_utils_library.so ] ... DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_calib_utils_library.so ] ... DynamicLoaderConfig|unable to find [ libsrrg2_solver_calib_utils_library.so ] in paths
DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_calib_library.so ] ... DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_types3d_library.so ] ... DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_linear_solvers_library.so ] ... DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_projective_library.so ] ... DynamicLoaderConfig|looking for file [/catkin_ws/devel/share/common-lisp/../../lib/libsrrg2_solver_extras_types3d_library.so ] ... DynamicLoaderConfig|unable to find [ libsrrg2_solver_extras_types3d_library.so ] in paths

how can I load libsrrg2_solver_extras_types2d_library.so, libsrrg2_solver_calib_utils_library.so, ...?