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TROUBLESHOOTING.md

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Troubleshooting

This page contains a small collections of issues/errors that may be experienced along with their fixes.

FIRST OF ALL:

  • Did you read the main README page?
  • Did you use the provided INSTALL SCRIPTS?

If not then go back on the README page, read the few lines in the install section and launch the REQUIRED install script. The install scripts were created to perform all the required install operations for you and make the install process itself as smooth and painless as possible.

If you work under Ubuntu or MacOS, check the specific installation procedures reported in the main README page.

Submitting a git issue

For faster support when opening a new git issue, please provide the following information:

  • Git commit (ensure you are on lastest `master' commit)
  • Dataset used
  • Code configuration:
    • Modified parameters in config.yaml
    • Modified parameters in config_parameters.py
    • Any other changes made to the codebase
  • System configuration:
    • OS, CUDA version, etc.
  • Full console log

Providing this information is essential for reproducing and debugging the issue efficiently.

Clean reset

If you want to perform a clean reset and launch a fresh new install (rebuilding everything from scratch), run the following commands:

./clean.sh --hard   # clean build folders 
./pyenv-delete.sh   # delete the "pyslam" virtual environment

Bad tracking performances

Due to the multi-threading system (tracking thread + local mapping thread) and the non-super-fast performances of the python implementations (indeed, python is not actually multithreading), bad tracking performances may occur and vary depending on your machine computation capabilities. In a few words, it may happen that the local mapping thread is not fast enough to spawn new map points in time for the tracking thread. In fact, new spawned map points are necessary to let the tracking thread find enough {keypoint}-{map point} correspondences, and hence stably grasp at the map and proceed along its estimated trajectory. Simply put, the local mapping thread continuously builds/unrolls the fundamental 'carpet' of points (the map) on which the tracking thread 'walks': no 'carpet', no party!

If you experience bad tracking performances, go in config_parameters.py and try to set kTrackingWaitForLocalMappingToGetIdle=True.

Errors

ERROR: pip's dependency resolver does not currently take into account all the packages that are installed. This behaviour is the source of the following dependency conflicts

I have verified through numerous installation tests that the errors reported by pip's dependency resolver are typically warnings rather than critical issues. These messages do not prevent the main and test scripts from running successfully.

ImportError: /home/.../anaconda3/envs/pyslam/bin/../lib/libgcc_s.so.1: version `GCC_12.0.0' not found (required by /lib/x86_64-linux-gnu/libhwy.so.1)

If you hit this issue, please refer to this discussion.

RuntimeError: The detected CUDA version (11.8) mismatches the version that was used to compile

If you get the following error (or a similar one)

      RuntimeError:
      The detected CUDA version (11.8) mismatches the version that was used to compile
      PyTorch (12.1). Please make sure to use the same CUDA versions.

then your detected CUDA version should actually be 11.8 and the following command might help:

pip install torch==2.2.0+cu118 torchvision==0.17+cu118 --index-url https://download.pytorch.org/whl/cu118

Another solution is to install CUDA 12.1, as suggested by the error message.

To know which CUDA version is required by your installed torch version, you can run:

python -c "import torch; print(torch.__version__)"

In case your dected CUDA version is a different one, you can easily adjust the above command by changing the cuXYZ version code. See this reference for further details: https://pytorch.org/get-started/previous-versions/

Gtk-ERROR **: ... GTK+ 2.x symbols detected. Using GTK+ 2.x and GTK+ 3 in the same process is not supported

If you hit such an error then decomment (or add) the following code in both main_vo.py and main_slam.py

# fix from https://github.com/tum-vision/fastfusion/issues/21
import gi
gi.require_version('Gtk', '2.0')

this will solve the problem.

SURF error

In order to use non-free OpenCV features (i.e. SURF, etc.), you need to install the module opencv-contrib-python built with the enabled option OPENCV_ENABLE_NONFREE.

The provided install scripts will install a recent opencv version (>=4.10) with non-free modules enabled (see the provided scripts install_pip3_packages.sh and install_opencv_python.sh). To quickly verify your installed opencv version run:
$ . pyenv-activate.sh
$ ./scripts/opencv_check.py
or use the following command:
$ python3 -c "import cv2; print(cv2.__version__)"
How to check if you have non-free OpenCV module support (no errors imply success):
$ python3 -c "import cv2; detector = cv2.xfeatures2d.SURF_create()"

g2o Errors

AttributeError: 'g2o.EdgeSE3ProjectXYZ' object has no attribute 'fx'

If you run into the following error

 File ".../pyslam/optimizer_g2o.py", line 96, in optimization
    edge.fx = f.fx 
AttributeError: 'g2o.EdgeSE3ProjectXYZ' object has no attribute 'fx'

that's because you did not run the script

$ ./install_thirdparty.sh

as explained in the main README file. That's required in order to properly build and install the required thirdparty libs. Please,follow these steps:

  • check you are on the correct pyslam branch according to your OS
  • use the pyslam install scripts
  • open a terminal in the root folder of the repo clean with $ ./clean.sh
  • launch a new install with $ ./install_all_venv.sh
  • Please, double check that you have the file like thirdparty/g2opy/lib/g2o.cpython-36m-x86_64-linux-gnu.so.

Cannot properly import g2o library or other libs

If you get an error message like

import g2o 
ModuleNotFoundError: No module named 'g2o' error

First of all, check if you have a compiled thirdparty/g2opy/lib/g2o.cpython-*-linux-gnu.so. If not, Did you use one of the install_all scripts? Depending on your selected working environment (native, conda, python3-venv), you need to launch its companion install_all script in order to actually install all the required libraries (including g2o). Please, read the install instruction in the main README file.

On the other hand, if you already have a compiled thirdparty/g2opy/lib/g2o.cpython-*-linux-gnu.so, it's very likely you have libraries compiled in a 'mixed' way. Then, try to clean everything with the script clean.sh, and follow the installation procedure again (see the main README file).

Last but not least, please recall that you need to activate your pyenv/conda environment before launching any pySLAM script.

OrderedSet error

Reference: #48

If you run main_slam.py and hit the following error

File "/home/dam/.local/lib/python3.5/site-packages/ordered_set.py", line 134, in copy
return self.class(self)
File "/home/dam/.local/lib/python3.5/site-packages/ordered_set.py", line 69, in init
self |= iterable
TypeError: unsupported operand type(s) for |=: 'OrderedSet' and 'OrderedSet'

You can solve such an issue by installing a lower version of OrderedSet

pip install ordered-set==3.1.1 --force-reinstall

Import erros related to ROS and OpenCV

If you have ROS installed in your system and got the following error:

ImportError: /opt/ros/kinetic/lib/python2.7/dist-packages/cv2.so:  
undefined symbol: PyCObject_Type

You can run the following command in your shell:

$ export PYTHONPATH=""

this will remove the ROS OpenCV python modules from your python path and will solve the issue.

Could not import PILLOW_VERSION from PIL

Or ImportError: cannot import name 'PILLOW_VERSION'

If you get this error, it is very likely that pillow 7.0.0 has some troubles with pytorch. In order to solve this error, run

$ pip3 uninstall pillow 
$ pip3 install pillow==6.2.2

(fix from this page)

ValueError: ndarray is not C-contiguous

If the following error pops-up:

ValueError: ndarray is not C-contiguous

Open pyslam/search_points.py, find this line (should be line 79):

projs = f_cur.project_map_points(points)

and replace it with :

projs = f_cur.project_map_points(points)
projs = projs.copy(order='C')

(thanks to naughtyStark)

Error: python3: malloc.c:2401: sysmalloc: Assertion `(old_top == initial_top (av) && old_size == 0) ...

I got this error after messing up with the installation of different python packages related to torch and torchvision. The result was that tfeat was generating segmentation faults. In order to check if this is actually your case, run

$ cd test/cv     # this is compulsory
$ python3 test_tfeat.py

and check if you get a segmenation fault. If this is the case, try to run

$ pip3 uninstall torch torchvision 
$ pip3 install torch torchvision

in order to get a clean installation of the torch packages.

When loading a neural network with CUDA everything gets stuck

I got this issue with a new NVIDIA GPU while loading SuperPoint neural network. The NN loading got stuck. This error arises when CUDA code was not compiled to target your GPU architecture. Two solutions:

Manual install instead of using the provided install scripts

If you really want to install things manually instead of using the install scripts, follow the same steps of the install scripts, and good luck!