zanazakaryaie / arm-vo Goto Github PK

%YAML:1.0

#########################
### Camera Parameters ###
#########################

fx: 611.1327514648438
fy: 611.2852783203125
cx: 326.94580078125
cy: 250.05352783203125

height: 0.3
pitch_angle: -0.03
 

###########################
### Detector Parameters ###
###########################

# Maximum number of FAST features per image
nFeatures: 300

#Kepoints with corner response lower than threshold are ignored (lower it if your images have low contrast)
threshold: 15

# Image is divided to a nRows * nCols grid
nRows: 6
nCols: 12


##########################
### Tracker Parameters ###
##########################

window_size: 13

-- The C compiler identification is GNU 9.4.0
-- The CXX compiler identification is GNU 9.4.0
-- Check for working C compiler: /usr/bin/cc
-- Check for working C compiler: /usr/bin/cc -- works
-- Detecting C compiler ABI info
-- Detecting C compiler ABI info - done
-- Detecting C compile features
-- Detecting C compile features - done
-- Check for working CXX compiler: /usr/bin/c++
-- Check for working CXX compiler: /usr/bin/c++ -- works
-- Detecting CXX compiler ABI info
-- Detecting CXX compiler ABI info - done
-- Detecting CXX compile features
-- Detecting CXX compile features - done
-- Found OpenCV: /usr/local (found version "4.5.0")
-- Found OpenMP_C: -fopenmp (found version "4.5")
CMake Error at /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:146 (message):
  Could NOT find OpenMP_CXX (missing: OpenMP_CXX_FLAGS OpenMP_CXX_LIB_NAMES)
Call Stack (most recent call first):
  /usr/share/cmake-3.16/Modules/FindPackageHandleStandardArgs.cmake:393 (_FPHSA_FAILURE_MESSAGE)
  /usr/share/cmake-3.16/Modules/FindOpenMP.cmake:511 (find_package_handle_standard_args)
  CMakeLists.txt:13 (find_package)


-- Configuring incomplete, errors occurred!
See also "/ARM-VO/CMakeFiles/CMakeOutput.log".
See also "/ARM-VO/CMakeFiles/CMakeError.log".

nvidia@nvidia-desktop:~/work/code/ARM-VO/build$ ./ARM_VO 
Few input arguments!
Usage: ./exe pathToDataFolder paramsFile
Use default Param /home/nvidia/dataset/kitti/00/image_3/  ../params/Seq00-02.yaml
Processing image 000000.png: Initialized
Segmentation fault (core dumped)
nvidia@nvidia-desktop:~/work/code/ARM-VO/build$ gdb ARM_VO 
GNU gdb (Ubuntu 8.1-0ubuntu3.2) 8.1.0.20180409-git
Copyright (C) 2018 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
and "show warranty" for details.
This GDB was configured as "aarch64-linux-gnu".
Type "show configuration" for configuration details.
For bug reporting instructions, please see:
<http://www.gnu.org/software/gdb/bugs/>.
Find the GDB manual and other documentation resources online at:
<http://www.gnu.org/software/gdb/documentation/>.
For help, type "help".
Type "apropos word" to search for commands related to "word"...
Reading symbols from ARM_VO...done.
(gdb) r
Starting program: /home/nvidia/work/code/ARM-VO/build/ARM_VO 
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/aarch64-linux-gnu/libthread_db.so.1".
Few input arguments!
Usage: ./exe pathToDataFolder paramsFile
Use default Param /home/nvidia/dataset/kitti/00/image_3/  ../params/Seq00-02.yaml
[New Thread 0x7fb5bb3f00 (LWP 10778)]
[New Thread 0x7fafffef00 (LWP 10779)]
[New Thread 0x7fb57b2f00 (LWP 10780)]
Processing image 000000.png: Initialized

Thread 1 "ARM_VO" received signal SIGSEGV, Segmentation fault.
tracker::calcSharrDeriv (this=this@entry=0x10c00000001, src=..., dst=...) at /home/nvidia/work/code/ARM-VO/src/tracker.cpp:110
110	            int16x8_t q3 = vld1q_s16((const int16_t*)&trow1[x-cn]);
(gdb) bt
#0  0x0000005555573938 in tracker::calcSharrDeriv(cv::Mat const&, cv::Mat&) (this=this@entry=0x10c00000001, src=..., dst=...)
    at /home/nvidia/work/code/ARM-VO/src/tracker.cpp:110
#1  0x000000555557435c in tracker::calc_OpticalFlowPyrLK(cv::_InputArray const&, cv::_InputArray const&, cv::_InputArray const&, cv::_InputOutputArray const&, cv::_OutputArray const&, cv::Size_<int>, int, cv::TermCriteria, int, double) (this=0x10c00000001, 
    this@entry=0x7fffffeda8, _prevImg=..., _nextImg=..., _prevPts=..., _nextPts=..., _status=..., winSize=..., maxLevel=1432072000, 
    maxLevel@entry=3, criteria=..., flags=<optimized out>, minEigThreshold=minEigThreshold@entry=0.001)
    at /home/nvidia/work/code/ARM-VO/src/tracker.cpp:187
#2  0x0000005555574c70 in tracker::track(cv::Mat const&, cv::Mat const&, std::vector<cv::Point_<float>, std::allocator<cv::Point_<float> > >&, std::vector<cv::Point_<float>, std::allocator<cv::Point_<float> > >&) (this=this@entry=0x7fffffeda8, img_1=..., img_2=..., points1=std::vector of length 268, capacity 268 = {...}, points2=std::vector of length 268, capacity 268 = {...}) at /home/nvidia/work/code/ARM-VO/src/tracker.cpp:23
#3  0x0000005555561630 in ARM_VO::update(cv::Mat const&) (this=0x7fffffebc0, currentFrame=...) at /home/nvidia/work/code/ARM-VO/src/ARM_VO.cpp:77
#4  0x0000005555560654 in main(int, char**) (argc=<optimized out>, argv=<optimized out>) at /home/nvidia/work/code/ARM-VO/src/main.cpp:59