单目运行
rangingwaves opened this issue · 5 comments
你好，我运行双目没有问题，但是运行单目的时候报以下错误
---in sp re ---
sp re window 0
point_2d_uv.size= 102
[2024-08-05 16:37:54][error][preprocess_kernel.cu:514]:launch failed: invalid configuration argument
[2024-08-05 16:37:54][error][trt_infer.cpp:22]:NVInfer: 3: [executionContext.cpp::enqueueInternal::795] Error Code 3: API Usage Error (Parameter check failed at: runtime/api/executionContext.cpp::enqueueInternal::795, condition: bindings[x] || nullBindingOK
)
[2024-08-05 16:37:54][fatal][trt_infer.cpp:281]:Enqueue failed, code 9[cudaErrorInvalidConfiguration], message invalid configuration argument
Stack trace (most recent call last) in thread 1133611:
#11 Object "[0xffffffffffffffff]", at 0xffffffffffffffff, in
#10 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0f404c4352, in clone
#9 Object "/lib/x86_64-linux-gnu/libpthread.so.0", at 0x7f0f43b87608, in
#8 Object "/lib/x86_64-linux-gnu/libstdc++.so.6", at 0x7f0f407d9df3, in
#7 Object "/home/hfm/slam/dev_D_VINS/devel/lib/loop_fusion/loop_fusion_node", at 0x564f94ef931c, in process()
#6 Object "/home/hfm/slam/dev_D_VINS/devel/lib/loop_fusion/loop_fusion_node", at 0x564f94f38825, in KeyFrame::KeyFrame(double, int, Eigen::Matrix<double, 3, 1, 0, 3, 1>&, Eigen::Matrix<double, 3, 3, 0, 3, 3>&, cv::Mat&, std::vector<cv::Point3_, std::allocator<cv::Point3_ > >&, std::vector<cv::Point_, std::allocator<cv::Point_ > >&, std::vector<cv::Point_, std::allocator<cv::Point_ > >&, std::vector<double, std::allocator >&, int)
#5 Object "/home/hfm/slam/dev_D_VINS/devel/lib/loop_fusion/loop_fusion_node", at 0x564f94f367b2, in KeyFrame::computeWindowSuperpoint()
#4 Object "/home/hfm/slam/dev_D_VINS/devel/lib/loop_fusion/loop_fusion_node", at 0x564f94f5f75b, in Estimator_net::EstimatorImpl::sp_extractor(cv::Mat const&, std::vector<cv::Point_, std::allocator<cv::Point_ > >&)
#3 Object "/home/hfm/slam/dev_D_VINS/devel/lib/loop_fusion/loop_fusion_node", at 0x564f94f6ff99, in TRT::InferImpl::forward(bool)
#2 Object "/home/hfm/slam/dev_D_VINS/devel/lib/loop_fusion/loop_fusion_node", at 0x564f94ef0986, in
#1 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0f403c7858, in abort
#0 Object "/lib/x86_64-linux-gnu/libc.so.6", at 0x7f0f403e800b, in gsignal
Aborted (Signal sent by tkill() 1133588 1000)
请自行根据双目的参数文件修改config
@kajo-kurisu 好的，谢谢请您的回复，请问修改config指的是导出onnx，engine文件的参数吗，我使用的是项目里面的euroc_mono_imu_config.yaml
根据双目用的config文件自己修改
非常感谢 @ kajo-kurisu
请问搞通了么？我也是单目的@rangingwaves