No mapping in PangolinViewer:Map Viewer

[HaisongW]

Ask for help!

I followed the instruction in ubuntu/docker installation page: https://github.com/stella-cv/stella_vslam/tree/main/scripts/ubuntu, but when I run samples, the PangolinViewer: Map Viewer window shows nothing.

The running information as below:

[2023-03-19 08:48:44.604] [I] config file loaded: ../example/aist/equirectangular.yaml
--start-timestamp is not set. using system timestamp.
If --no-sleep is set without --start-timestamp, timestamps may overlap between multiple runs.
[2023-03-19 08:48:44.604] [I] 
original version of OpenVSLAM,
Copyright (C) 2019,
National Institute of Advanced Industrial Science and Technology (AIST)
All rights reserved.
stella_vslam (the changes after forking from OpenVSLAM),
Copyright (C) 2022, stella-cv, All rights reserved.

This is free software,
and you are welcome to redistribute it under certain conditions.
See the LICENSE file.

Camera:
  name: RICOH THETA S 960
  setup: monocular
  model: equirectangular
  fps: 30.0
  cols: 1920
  rows: 960
  color_order: RGB
Preprocessing:
  min_size: 800
  mask_rectangles:
    - [0.0, 1.0, 0.0, 0.1]
    - [0.0, 1.0, 0.84, 1.0]
    - [0.0, 0.2, 0.7, 1.0]
    - [0.8, 1.0, 0.7, 1.0]
Feature:
  name: default ORB feature extraction setting
  scale_factor: 1.2
  num_levels: 8
  ini_fast_threshold: 20
  min_fast_threshold: 7
Mapping:
  backend: g2o
  baseline_dist_thr_ratio: 0.02
  redundant_obs_ratio_thr: 0.95
  num_covisibilities_for_landmark_generation: 20
  num_covisibilities_for_landmark_fusion: 20
Tracking:
  backend: g2o
LoopDetector:
  backend: g2o
  enabled: true
  reject_by_graph_distance: true
  min_distance_on_graph: 50
System:
  map_format: msgpack

[2023-03-19 08:48:44.604] [I] loading ORB vocabulary: ../vocab/orb_vocab.fbow
[2023-03-19 08:48:44.621] [I] load orb_params "default ORB feature extraction setting"
[2023-03-19 08:48:44.622] [I] load the MessagePack file of database from map.msg
[2023-03-19 08:48:46.595] [I] decoding 1 camera(s) to load
[2023-03-19 08:48:46.595] [I] A camera with the same name ("RICOH THETA S 960") already existed in database.
[2023-03-19 08:48:46.595] [I] decoding 1 orb_params to load
[2023-03-19 08:48:46.595] [I] The feature extraction settings with the same name ("default ORB feature extraction setting") already existed in database.
[2023-03-19 08:48:46.761] [I] decoding 215 keyframes to load
[2023-03-19 08:48:48.224] [I] decoding 9193 landmarks to load
[2023-03-19 08:48:48.231] [I] registering essential graph
[2023-03-19 08:48:48.516] [I] registering keyframe-landmark association
[2023-03-19 08:48:48.825] [I] updating covisibility graph
[2023-03-19 08:48:48.899] [I] updating landmark geometry
[2023-03-19 08:48:49.431] [I] startup SLAM system
[2023-03-19 08:48:49.432] [I] start mapping module
[2023-03-19 08:48:49.432] [I] start global optimization module
[2023-03-19 08:48:49.437] [I] pause mapping module
error: XDG_RUNTIME_DIR not set in the environment.
Framebuffer with requested attributes not available. Using available framebuffer. You may see visual artifacts.[2023-03-19 08:48:49.558] [I] relocalization succeeded (id=209)

(run_video_slam:340): dbind-WARNING **: 08:48:49.610: Couldn't register with accessibility bus: An AppArmor policy prevents this sender from sending this message to this recipient; type="method_call", sender="(null)" (inactive) interface="org.freedesktop.DBus" member="Hello" error name="(unset)" requested_reply="0" destination="org.freedesktop.DBus" (bus)
Gtk-Message: 08:48:49.628: Failed to load module "canberra-gtk-module"
Gtk-Message: 08:48:49.629: Failed to load module "canberra-gtk-module"
[2023-03-19 08:49:34.535] [I] tracking lost: frame 1029
[2023-03-19 08:49:34.573] [I] relocalization succeeded (id=15)
^[a[2023-03-19 08:54:26.554] [I] terminate global optimization module
[2023-03-19 08:54:26.558] [I] terminate mapping module
[2023-03-19 08:54:26.558] [I] shutdown SLAM system
median tracking time: 0.0391252[s]
mean tracking time: 0.0370284[s]
[2023-03-19 08:54:26.561] [I] clear BoW database
[2023-03-19 08:54:26.769] [I] clear map database

The command in docker as below:
./run_video_slam --disable-mapping -v ../vocab/orb_vocab.fbow -m ../dataset/aist_living_lab_2/video.mp4 -c ../example/aist/equirectangular.yaml --frame-skip 3 --no-sleep --map-db-in map.msg

Any one could give me some help, Thanks so much!

[HaisongW]

And by the way, the system version is Ubuntu20.04.5, when I build docker image ,it shows:

(base) haisongwang@haisongwang-desktop:~/gitclone/stella_vslam/scripts/ubuntu$ ./build_stella_vslam_docker.sh
[+] Building 242.3s (21/21) FINISHED                                                                                                                                                            
 => [internal] load build definition from Dockerfile.desktop                                                                                                                               0.0s
 => => transferring dockerfile: 5.99kB                                                                                                                                                     0.0s
 => [internal] load .dockerignore                                                                                                                                                          0.0s
 => => transferring context: 308B                                                                                                                                                          0.0s
 => [internal] load metadata for docker.io/library/ubuntu:22.04                                                                                                                            1.1s
 => [internal] load build context                                                                                                                                                          0.1s
 => => transferring context: 32.84kB                                                                                                                                                       0.0s
 => [ 1/16] FROM docker.io/library/ubuntu:22.04@sha256:67211c14fa74f070d27cc59d69a7fa9aeff8e28ea118ef3babc295a0428a6d21                                                                    0.0s
 => CACHED [ 2/16] RUN set -x &&   apt-get update -y -qq &&   apt-get upgrade -y -qq --no-install-recommends &&   : "basic dependencies" &&   apt-get install -y -qq     build-essential   0.0s
 => CACHED [ 3/16] WORKDIR /tmp                                                                                                                                                            0.0s
 => CACHED [ 4/16] RUN set -x &&   wget -q https://gitlab.com/libeigen/eigen/-/archive/3.3.7/eigen-3.3.7.tar.bz2 &&   tar xf eigen-3.3.7.tar.bz2 &&   rm -rf eigen-3.3.7.tar.bz2 &&   cd   0.0s
 => CACHED [ 5/16] WORKDIR /tmp                                                                                                                                                            0.0s
 => CACHED [ 6/16] RUN set -x &&   git clone https://github.com/RainerKuemmerle/g2o.git &&   cd g2o &&   git checkout ed40a5bb028566fd56a78fd7b04921b613492d6f &&   mkdir -p build &&   c  0.0s
 => CACHED [ 7/16] WORKDIR /tmp                                                                                                                                                            0.0s
 => CACHED [ 8/16] RUN set -x &&   wget -q https://github.com/opencv/opencv/archive/4.7.0.zip &&   unzip -q 4.7.0.zip &&   rm -rf 4.7.0.zip &&   cd opencv-4.7.0 &&   mkdir -p build &&    0.0s
 => CACHED [ 9/16] WORKDIR /tmp                                                                                                                                                            0.0s
 => CACHED [10/16] RUN set -x &&   git clone https://github.com/stevenlovegrove/Pangolin.git &&   cd Pangolin &&   git checkout eab3d3449a33a042b1ee7225e1b8b593b1b21e3e &&   mkdir -p bu  0.0s
 => CACHED [11/16] WORKDIR /tmp                                                                                                                                                            0.0s
 => CACHED [12/16] RUN set -x &&   git clone https://github.com/bombela/backward-cpp.git &&   cd backward-cpp &&   git checkout 5ffb2c879ebdbea3bdb8477c671e32b1c984beaa &&   mkdir -p bu  0.0s
 => [13/16] COPY . /stella_vslam/                                                                                                                                                          0.1s
 => [14/16] WORKDIR /stella_vslam/                                                                                                                                                         0.0s
 => [15/16] RUN set -x &&   mkdir -p build &&   cd build &&   cmake     -DUSE_PANGOLIN_VIEWER=ON     -DBUILD_EXAMPLES=ON     -DUSE_STACK_TRACE_LOGGER=ON     -DCMAKE_BUILD_TYPE=RelWith  239.6s
 => [16/16] WORKDIR /stella_vslam/build/                                                                                                                                                   0.0s 
 => exporting to image                                                                                                                                                                     1.4s 
 => => exporting layers                                                                                                                                                                    1.4s 
 => => writing image sha256:2f6723272e89f6ed6d5324700d3790a4eaaf2fb3a488a2665e7767a4a28a7664                                                                                               0.0s 
 => => naming to docker.io/library/stella_vslam-desktop                                                                                                                                    0.0s 
non-network local connections being added to access control list                                                                                                                                
/usr/bin/nvidia-container-toolkit
docker: Error response from daemon: could not select device driver "" with capabilities: [[gpu]].

Is it because of the last information?:

0.0s 
non-network local connections being added to access control list                                                                                                                                
/usr/bin/nvidia-container-toolkit
docker: Error response from daemon: could not select device driver "" with capabilities: [[gpu]].

I ignored that, because I did not need GPUs.

The command I started the docker container:
sudo docker run -it -v /tmp/.x11-unix:/tmp/.x11-unix -e DISPLAY=unix$DISPLAY -e GDK_SCALE -e GDK_DPI_SCALE --net=host stella_vslam-desktop

That 's all the information I can provide, can someone help me? thanks very much!

[ymd-stella]

See #481