thien94
Unsupported combination of input and output array formats in function 'reduce' for a part of tum_rgb_datasets
Hello, My device is jetson nano, CUDA 10.2, OPENCV 4.1.0. I can build the build.sh. When I try to use ORBSLAM_cuda to run rgbd_datasets, for example rgbd_dataset_freiburg1_xyz, no problems appear.
Camera Parameters:
- fx: 517.306
- fy: 516.469
- cx: 318.643
- cy: 255.314
- k1: 0.262383
- k2: -0.953104
- k3: 1.16331
- p1: -0.005358
- p2: 0.002628
- fps: 30
- color order: RGB (ignored if grayscale)
ORB Extractor Parameters:
- Number of Features: 1000
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7
Depth Threshold (Close/Far Points): 3.86618
Start processing sequence ... Images in the sequence: 792
New map created with 833 points
median tracking time: 0.132455 mean tracking time: 0.137917
Saving camera trajectory to CameraTrajectory.txt ...
but when I run another dataset rgbd_dataset_freiburg2_desk, at the begining it works well, but near the end of the process the programm breaks off suddenly
./build/rgbd_tum Vocabulary/ORBvoc.txt Examples/RGB-D/TUM2.yaml data/rgbd_dataset_freiburg2_desk/ data/rgbd_dataset_freiburg2_desk/association.txt
ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza. This program comes with ABSOLUTELY NO WARRANTY; This is free software, and you are welcome to redistribute it under certain conditions. See LICENSE.txt.
Input sensor was set to: RGB-D
Loading ORB Vocabulary. This could take a while... Vocabulary loaded!
Camera Parameters:
- fx: 520.909
- fy: 521.007
- cx: 325.141
- cy: 249.702
- k1: 0.231222
- k2: -0.784899
- k3: 0.917205
- p1: -0.003257
- p2: -0.000105
- fps: 30
- color order: RGB (ignored if grayscale)
ORB Extractor Parameters:
- Number of Features: 1000
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7
Depth Threshold (Close/Far Points): 3.83944
Start processing sequence ... Images in the sequence: 2893
New map created with 791 points terminate called after throwing an instance of 'cv::Exception' what(): OpenCV(4.1.0) /home/kuan/opencv-4.1.0/modules/core/src/matrix_operations.cpp:1116: error: (-210:Unsupported format or combination of formats) Unsupported combination of input and output array formats in function 'reduce'
Aborted (core dumped)
Besides I also use original ORB-SLAM2 code to run these datasets, every time it runs without error. I have searched the 'reduce' in the whole project, one is in Sim3Solver::ComputerCrentroid( ){ ...cv::reduce(P, c, 1, CV_REDUCE_SUM)... }, one is in Fast_gpu.cu( ...reduce<32>... )
Can anybody give some advice to fix it out. Thanks a lot!!!!!!
