Failed to build Superpoint engine.

[antithing]

Hi, and thank you for this code! I am compiling on Windows, with CUDA 12.1, TensorRT 8.6, and a RTX 4090 GPU.

When running the test_features application, I get

Error in SuperPoint building triggered here:

AirSLAM/src/feature_detector.cc

Line 24 in 2a23e66

std::cout << "Error in SuperPoint building" << std::endl;

Digging in more, this errors at:

AirSLAM/src/super_point.cpp

Line 23 in 2a23e66

auto builder = TensorRTUniquePtr<nvinfer1::IBuilder>(nvinfer1::createInferBuilder(gLogger.getTRTLogger()));

What could this problem be?

I have tried upgrading to TensorRT 10, but I get a lot of compile errors.

Thanks!

[xukuanHIT]

Hello, I haven't developed programs on Windows before. The provided source code relies on APIs from libraries used on Ubuntu, and I'm not sure if they work the same way on Windows.

[antithing]

Hi, it actually seems to be related to the 40 series GPU. (I am on a 4090). I think these cards require tensorrt 10.

Is that possible?

[xukuanHIT]

I have tested it on a 4080, and TensorRT 8.6 works properly.

[antithing]

Strange. I wonder if it's a windows thing. With airvo I had no issues building on windows

[antithing]

Okay @xukuanHIT i rebuilt everything and the engine is built! Yay!

Now I have a new crash.

Running the test feature application, the code crashes here:

AirSLAM/src/super_point.cpp

Line 160 in 2a23e66

host_data_buffer[row_shift + col] = float(ptr[0]) / 255.0;

If I comment out that line, it passes the function, if I leave it in, it crashes. I am using teh euroc dataset, everything default. What might be happening here?

Thanks again!

[antithing]

AH there was a problem with my windows conversion. I have test feature running now! Next step: visual odometry!

[antithing]

Hi again, I have visual odometry running great, however when i run map refine, or relocation, I have a crash on loading the vocabulary file.

void Database::LoadVocabulary(const std::string voc_path){
  SuperpointVocabulary voc_load;
  std::cout << "loading voc: " << voc_path << std::endl;
  std::ifstream ifs(voc_path, std::ios::binary);
  //crashes below
  boost::archive::binary_iarchive ia(ifs);
  ia >> voc_load;


  _voc = std::make_shared<SuperpointVocabulary>(voc_load);
  
  if(_inverted_file.empty()){
    _inverted_file.resize(_voc->size());
  }
}

What version of boost should I be using? Can you think of anything that might cause this?

Thank you.

[xukuanHIT]

@antithing Hi, we use boost 1.71.0 on ubuntu. Can you confirm if the dictionary path is correct?

[antithing]

Hi, yes the path is correct, i am actually hardcoding it just before the boost::archive::binary_iarchive ia(ifs); line to debug.
It seems to be an issue with the actual bin file, could this be a Linux->Windows thing?

Is the dbow superpoint training code included here? I can try training the vocabulary again perhaps

[xukuanHIT]

@antithing Hi, you can refer to and modify this code to train the dictionary.

[antithing]

Thank you! What dataset did you train your dictionary on?

[xukuanHIT]

@antithing Hi, please refer to the Section VI-A of the paper.

[antithing]

Hi , I have looked into this more and it looks like boost binary files are not portable between Linux and Windows.
I will look at creating a Windows file, but I was wondering if you have a txt file version of the created dbow2 vocabulary?
Txt would be portable to Windows and I can serialize it to bin.

If so would you be able to upload it?

Thank you!

[xukuanHIT]

@antithing I have uploaded a txt version of the vocabulary. However, in offline optimization stage, AirSLAM will build a scene-specific binary vocabulary, I am not sure if it can run on Windows.

[antithing]

I am still struggling with this. Now it's the map loading. It saves fine from Visual odometry but I can't load txt or binary without a crash! Do you have any thoughts on where I could look to debug this? Thank you!

[antithing]

@xukuanHIT

Aha! By adding the BOOST_SERIALIZATION_SHARED_PTR(Map) macro and copying the _map data to a new Map object before i save it, I can now load the map bin!

I am still stuck with loading the voc file however, i get this error:

incompatible native format - size of long"

Are you able to share the exact code to create this file?

Thank you!

[xukuanHIT]

Sorry, I am currently busy with some tasks and may be unable to re-organize the code in the short term. You still can not load the txt vocabulary?

[antithing]

The txt voc gives the same error unfortunately. I am building airslam inside Docker on WSL, so i may be able to use boost::portable_binary_archive, but I am struggling with ROS as I have never used it before. Will keep testing!