tschmidt23 / dart Goto Github PK

Testing the dart library with an adapted dart-example (DLR Justin Tracking -> only tracking the mug on live images), periodically causes "illegal memory access errors" from the gpu_raytracePrediction:

from PredictionRenderer::raytracePrediction():
gpu_raytracePrediction error: %s
an illegal memory access was encountered
...
CUDA error: an illegal memory access was encountered
from line 797 of file ./src/optimization/optimizer.cpp (CheckCudaDieOnError();)

Environment: I adapted the dart library (fixed some hard coded image resolutions) so as to use the Kinect V2 sensor with freenect2 library. Hence, the depth resolution is 512x424 and for the prediction size I use 256x212.

Is there any idea where these illegal memory access does come from?

Is it possible to provide the xml-file of the human model, which is used in the DART publication videos?

Hello,

I'm trying to understan the example code "track_space_justing_demo.cpp" to understand how to use DART. However a lot of things are unexplained in the code. I cannot figure out what they are for even though I read the paper.
Is there a generic tutorial document that tells step by step what exactly is needed for using DART from the beginning for a new robot?
For instance, what "dart::loadParamMapPoseReduction" do exactly? How to create a file similar to justinHandParamMap.txt and what is it for? I looked into dart_io.cpp to understand that function but the code was not explanatory either.
There are lots of classes and functions but there is not enough explanation to link what is explained in the paper with the tool. Example code does not help much either.

Hello,

I'm having a problem of compiling the "track_space_justin_demo.cpp" file in the demo. I used the command "g++ -I Pangolin/include/ -I Pangolin/build/src/include/ -I /usr/include/eigen3/ -I /usr/local/cuda/include/ -I src/ dartExample/track_space_justin_demo.cpp -std=c++11
". The screenshot of some parts of the error is shown below:

Thanks!