prbonn / range-mcl Goto Github PK

Hi there, thanks for providing the code to test. However, I got an issue running the code.

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Message=index 0 is out of bounds for axis 0 with size 0
Source=F:\Capstone\algorithms\range_mcl\src\utils.py
StackTrace:
File "F:\Capstone\algorithms\range_mcl\src\utils.py", line 340, in load_poses_kitti
inv_frame0 = np.linalg.inv(poses[0])
File "F:\Capstone\algorithms\range_mcl\src\main_range_mcl.py", line 49, in (Current frame)
map_poses = load_poses_kitti(map_pose_file, map_calib_file)

======================================================================

I tried to search for the GLFWError 65544 but none of the solutions seems to work. Is there anything idea what is happening?

Regards
Jimmy

Hello,Chen~
could it can be demonstrated online when reconstructs the mesh map?

conan@conan-Lenovo-Legion-Y7000P-2020H:~/range-mcl-main/src$ python3 main_range_mcl.py
INFO - 2021-08-06 11:42:08,929 - acceleratesupport - OpenGL_accelerate module loaded
INFO - 2021-08-06 11:42:08,931 - arraydatatype - Using accelerated ArrayDatatype
Load mesh map and initialize map module...
lower bound: [-137.51303435084705, -53.88607274849302] upper bound: [170.8931181474161, 237.73366404891496]
number of tiles = 8
total number of triangles: 4282269
WARNING - 2021-08-06 11:42:12,640 - numpymodule - Unable to load numpy_formathandler accelerator from OpenGL_accelerate
Monte Carlo localization initializing...
段错误 (核心已转储)

XXX@ubuntu:~/range-mcl/src$ python3 main_range_mcl.py
INFO - 2021-06-24 00:21:08,437 - acceleratesupport - OpenGL_accelerate module loaded
INFO - 2021-06-24 00:21:08,451 - arraydatatype - Using accelerated ArrayDatatype
Load mesh map and initialize map module...
lower bound: [-137.51303435084705, -53.88607274849302] upper bound: [170.8931181474161, 237.73366404891496]
number of tiles = 8
total number of triangles: 4282269
WARNING - 2021-06-24 00:21:21,473 - numpymodule - Unable to load numpy_formathandler accelerator from OpenGL_accelerate
Monte Carlo localization initializing...
段错误 (核心已转储)

OS: ubuntu2004
python: Python 3.8.5
gpu: GeForce GTX 1060
drive NVIDIA-SMI 460.56 Driver Version: 460.56 CUDA Version: 11.2

$ python main_range_mcl.py
...
finished frame 1099 with time of: 7.22408e-05 s
finished frame 1100 with time of: 5.55515e-05 s
Average runtime after convergence: 0.16806003594713895
save the localization results at: ../results/demo_loc_results.npz
Exception ignored in: <function GlBuffer.del at 0x7efcd4e45790>
Traceback (most recent call last):
File "/home/xxx/range-mcl/src/map_renderer/glow.py", line 75, in del
AttributeError: 'NoneType' object has no attribute 'glDeleteBuffers'
Exception ignored in: <function GlBuffer.del at 0x7efcd4e45790>
Traceback (most recent call last):
File "/home/xxx/range-mcl/src/map_renderer/glow.py", line 75, in del
AttributeError: 'NoneType' object has no attribute 'glDeleteBuffers'
Exception ignored in: <function GlProgram.del at 0x7efcd4e4e160>
Traceback (most recent call last):
File "/home/xxx/range-mcl/src/map_renderer/glow.py", line 482, in del
AttributeError: 'NoneType' object has no attribute 'glDeleteProgram'
Exception ignored in: <function GlTextureBuffer.del at 0x7efcd4e45ca0>
Traceback (most recent call last):
File "/home/xxx/range-mcl/src/map_renderer/glow.py", line 128, in del
AttributeError: 'NoneType' object has no attribute 'glDeleteBuffers'
Exception ignored in: <function GlBuffer.del at 0x7efcd4e45790>
Traceback (most recent call last):
File "/home/xxx/range-mcl/src/map_renderer/glow.py", line 75, in del
AttributeError: 'NoneType' object has no attribute 'glDeleteBuffers'
Exception ignored in: <function GlProgram.del at 0x7efcd4e4e160>
Traceback (most recent call last):
File "/home/xxx/range-mcl/src/map_renderer/glow.py", line 482, in del
AttributeError: 'NoneType' object has no attribute 'glDeleteProgram'
Exception ignored in: <function GlProgram.del at 0x7efcd4e4e160>
Traceback (most recent call last):
File "/home/xxx/range-mcl/src/map_renderer/glow.py", line 482, in del
AttributeError: 'NoneType' object has no attribute 'glDeleteProgram'
Exception ignored in: <function GlTexture2D.del at 0x7efcd4e4c280>
Traceback (most recent call last):
File "/home/xxx/range-mcl/src/map_renderer/glow.py", line 229, in del
AttributeError: 'NoneType' object has no attribute 'glDeleteTextures'
Exception ignored in: <function GlTexture2D.del at 0x7efcd4e4c280>
Traceback (most recent call last):
File "/home/xxx/range-mcl/src/map_renderer/glow.py", line 229, in del
AttributeError: 'NoneType' object has no attribute 'glDeleteTextures'
Exception ignored in: <function GlTexture2D.del at 0x7efcd4e4c280>
Traceback (most recent call last):
File "/home/xxx/range-mcl/src/map_renderer/glow.py", line 229, in del
AttributeError: 'NoneType' object has no attribute 'glDeleteTextures'
Exception ignored in: <function GlFramebuffer.del at 0x7efcd4e4e9d0>
Traceback (most recent call last):
File "/home/xxx/range-mcl/src/map_renderer/glow.py", line 624, in del
AttributeError: 'NoneType' object has no attribute 'glDeleteFramebuffers'
Exception ignored in: <function GlTexture2D.del at 0x7efcd4e4c280>
Traceback (most recent call last):
File "/home/xxx/range-mcl/src/map_renderer/glow.py", line 229, in del
AttributeError: 'NoneType' object has no attribute 'glDeleteTextures'
Exception ignored in: <function GlTexture2D.del at 0x7efcd4e4c280>
Traceback (most recent call last):
File "/home/xxx/range-mcl/src/map_renderer/glow.py", line 229, in del
AttributeError: 'NoneType' object has no attribute 'glDeleteTextures'
Exception ignored in: <function GlTexture2D.del at 0x7efcd4e4c280>
Traceback (most recent call last):
File "/home/xxx/range-mcl/src/map_renderer/glow.py", line 229, in del
AttributeError: 'NoneType' object has no attribute 'glDeleteTextures'
Exception ignored in: <function GlRenderbuffer.del at 0x7efcd4e4e5e0>
Traceback (most recent call last):
File "/home/xxx/range-mcl/src/map_renderer/glow.py", line 591, in del
AttributeError: 'NoneType' object has no attribute 'glDeleteRenderbuffers'

Hello.
I have a question regarding the time that is required to reach convergence for the query image. In your article you stated that it took, as a maximum, 56.7s to reach convergence with 10.000 particles. But the data was provided for the Carla dataset, which weighted only 0.2 Gb.
What I am really interested in is how long would it take to reach convergence for the Apollo dataset that weights 5.4 Gb (27 times bigger!). Thank you in advance.

Hi,

Thank you for your work and the open source release.
I was wondering if you have released the CARLA sequence (mesh map, odometry etc.) from your experiments somewhere?

The work is excellent and I'm honor to study for it.But I have two questions about it:
1、how the algorithm runs in real time not need "velodyne_bin"
2、its compatibility with solid-state lidar ,such as livox
I'm looking forward to your answers,thank you
Yours sincerely