Issue with Realsense Config

[ShreyasKuntnal]

I followed the repository's guidelines but encountered the error shown below.

I am using only the Realsense camera because I currently don't have a 4-camera setup ready. It's indicated that the OmniNXT should work with just the Realsense camera, correct?
This is my issue raised with much more detailed info about the issue and with my PC/Jetson specs.Github Issue Link
Output for roslaunch d2vins realsense.launch.

... logging to /root/.ros/log/4c34f14e-6abb-11ef-a642-847b577263a2/roslaunch-vt008-8464.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://vt008:37361/

SUMMARY
========

PARAMETERS
 * /d2comm/lcm_uri: udpm://224.0.0.25...
 * /d2comm/self_id: 1
 * /d2pgo/is_4dof: False
 * /d2pgo/self_id: 1
 * /d2pgo/vins_config_path: /root/swarm_ws/sr...
 * /d2vins/accept_min_3d_pts: 30
 * /d2vins/depth_far_thres: 100
 * /d2vins/detector_match_thres: 0.7
 * /d2vins/enable_loop: True
 * /d2vins/enable_network: True
 * /d2vins/enable_pub_remote_img: False
 * /d2vins/enable_sub_remote_img: False
 * /d2vins/init_query_thres: 0.2
 * /d2vins/inter_drone_init_frames: 3
 * /d2vins/is_4dof: False
 * /d2vins/jpg_quality: 75
 * /d2vins/lcm_uri: udpm://224.0.0.25...
 * /d2vins/loop_cov_pos: 0.1
 * /d2vins/lower_cam_as_main: False
 * /d2vins/match_index_dist: 100
 * /d2vins/match_index_dist_remote: 20
 * /d2vins/min_direction_loop: 1
 * /d2vins/min_match_per_dir: 20
 * /d2vins/min_movement_keyframe: 0.1
 * /d2vins/netvlad_model_path: /root/swarm_ws/sr...
 * /d2vins/nonkeyframe_waitsec: 5.0
 * /d2vins/odometry_consistency_threshold: 3.0
 * /d2vins/output_path: /home/dji/output/
 * /d2vins/output_raw_superpoint_desc: False
 * /d2vins/pca_comp_path: /root/swarm_ws/sr...
 * /d2vins/pca_mean_path: /root/swarm_ws/sr...
 * /d2vins/pca_netvlad: /root/swarm_ws/sr...
 * /d2vins/pos_covariance_per_meter: 0.01
 * /d2vins/query_thres: 0.2
 * /d2vins/recv_msg_duration: 0.5
 * /d2vins/self_id: 1
 * /d2vins/send_all_features: False
 * /d2vins/send_img: False
 * /d2vins/send_whole_img_desc: False
 * /d2vins/show: False
 * /d2vins/superglue_model_path: /root/swarm_ws/sr...
 * /d2vins/superpoint_model_path: /root/swarm_ws/sr...
 * /d2vins/superpoint_thres: 0.1
 * /d2vins/triangle_thres: 0.012
 * /d2vins/vins_config_path: /root/swarm_ws/sr...
 * /d2vins/yaw_covariance_per_meter: 0.003
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    d2comm (d2comm/d2comm_node)
    d2pgo (d2pgo/d2pgo_node)
    d2vins (d2vins/d2vins_node)

auto-starting new master
process[master]: started with pid [8487]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4c34f14e-6abb-11ef-a642-847b577263a2
process[rosout-1]: started with pid [8512]
started core service [/rosout]
process[d2vins-2]: started with pid [8519]
process[d2pgo-3]: started with pid [8520]
process[d2comm-4]: started with pid [8521]
D2Comm starting....
PGO Loaded VINS config from /root/swarm_ws/src/D2SLAM/d2vins/../config/realsense_d435/d435_single.yaml
[D2Comm] Try to initialize LCM URI: udpm://224.0.0.251:7667?ttl=1
[D2PGO] In single mode enable_pcm 1 pcm_thres 2.8
[D2PGO] PGOState: is 6dof
[ INFO] [1725453814.574851196]: [D2Comm] Drone 1 ready.
[ INFO] [1725453814.575459550]: [D2Comm] Starting d2comm lcm thread.
[D2PGONode@1] Initialized
Read VINS config from /root/swarm_ws/src/D2SLAM/d2vins/../config/realsense_d435/d435_single.yaml
superpoint_config.max_keypoints: 150
superpoint_config.onnx_path: 
superpoint_config.engine_path: 
superpoint_config.keypoint_threshold: 0.000000
[12:43:34][info][d2frontend_params.cpp,D2FrontendParams,L181] [D2FrontendParams] enable_search_local_aera not found, use default

[12:43:34][info][d2frontend_params.cpp,D2FrontendParams,L232] [D2Frontend] Using lazy broadcast keyframe: false
[12:43:34][info][d2frontend_params.cpp,readCameraConfigs,L344] Read camera from config file
[12:43:34][info][d2frontend_params.cpp,readCameraConfigs,L368] Camera 0: topic: /camera/infra1/image_rect_raw, calib: /root/swarm_ws/src/D2SLAM/d2vins/../config/realsense_d435/left.yaml, T: T [+0.099,+0.020,+0.010] YPR [-89.4,-1.0,-89.4]
[12:43:34][info][d2frontend_params.cpp,readCameraConfigs,L368] Camera 1: topic: /camera/infra2/image_rect_raw, calib: /root/swarm_ws/src/D2SLAM/d2vins/../config/realsense_d435/right.yaml, T: T [+0.099,-0.030,+0.011] YPR [-89.3,-1.0,-89.4]
[12:43:34][info][d2frontend_params.cpp,generateCameraModels,L262] [D2Frontend] Read camera from /root/swarm_ws/src/D2SLAM/d2vins/../config/realsense_d435/left.yaml
[12:43:34][info][d2frontend_params.cpp,generateCameraModels,L262] [D2Frontend] Read camera from /root/swarm_ws/src/D2SLAM/d2vins/../config/realsense_d435/right.yaml
[12:43:34][warning][d2frontend_params.cpp,generateCameraModels,L282] [D2Frontend] No photometric calibration file provided
[12:43:34][info][d2frontend_params.cpp,generateCameraModels,L307] [D2Frontend] Focal length initialize to: 460.0
[12:43:34][info][loop_cam.cpp,LoopCam,L34] Init CNNs using onnx
Trying to init MobileNetVLADONNX@/root/swarm_ws/src/D2SLAM/d2frontend/../models/mobilenetvlad_dyn_size.onnx tensorrt 0 fp16 1 int8 0 pca 1
[D2FrontEnd] Loading PCA for MobileNetVLADONNX: 
d2vins_node: /usr/include/eigen3/Eigen/src/Core/Block.h:120: Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Block(XprType&, Eigen::Index) [with XprType = Eigen::Matrix<float, -1, -1>; int BlockRows = 1; int BlockCols = -1; bool InnerPanel = false; Eigen::Index = long int]: Assertion `(i>=0) && ( ((BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) && i<xpr.rows()) ||((BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) && i<xpr.cols()))' failed.
Stack trace (most recent call last):
#11   Object "", at 0xffffffffffffffff, in 
#10   Source "/root/swarm_ws/src/D2SLAM/d2vins/src/d2vins_node.cpp", line 326, in _start [0x5e238ac20e6d]
        323:   d2vins.stopFrontend();
        324:   d2vins.stopAllThread();
        325:   return 0;
      > 326: }
#9    Source "../csu/libc-start.c", line 308, in __libc_start_main [0x72214bb70082]
#8  | Source "/root/swarm_ws/src/D2SLAM/d2vins/src/d2vins_node.cpp", line 317, in D2VINSNode
    |   315:   // spdlog::set_level(spdlog::level::debug);
    |   316: 
    | > 317:   D2VINSNode d2vins(n);
    |   318:   // ros::AsyncSpinner spinner(4);
    |   319:   // spinner.start();
      Source "/root/swarm_ws/src/D2SLAM/d2vins/src/d2vins_node.cpp", line 305, in main [0x5e238ac202a1]
        302:   }
        303: 
        304:  public:
      > 305:   D2VINSNode(ros::NodeHandle &nh) { Init(nh); }
        306: };
        307: 
        308: int main(int argc, char **argv) {
#7    Source "/root/swarm_ws/src/D2SLAM/d2vins/src/d2vins_node.cpp", line 254, in Init [0x5e238ac5cee7]
        251:   }
        252: 
        253:   void Init(ros::NodeHandle &nh) {
      > 254:     D2Frontend::Init(nh);
        255:     initParams(nh);
        256:     estimator = new D2Estimator(params->self_id);
        257:     d2vins_net = new D2VINSNet(estimator, params->lcm_uri);
#6    Source "/root/swarm_ws/src/D2SLAM/d2frontend/src/d2frontend.cpp", line 295, in Init [0x72214e08e8de]
        292:   loop_net =
        293:       new LoopNet(params->_lcm_uri, params->send_img,
        294:                   params->send_whole_img_desc, params->recv_msg_duration);
      > 295:   loop_cam = new LoopCam(*(params->loopcamconfig), nh);
        296:   feature_tracker = new D2FeatureTracker(*(params->ftconfig));
        297:   feature_tracker->cams = loop_cam->cams;
        298:   loop_detector =
#5    Source "/root/swarm_ws/src/D2SLAM/d2frontend/src/loop_cam.cpp", line 38, in LoopCam [0x72214e00220f]
         35:     netvlad_onnx = new MobileNetVLADONNX(
         36:         config.netvlad_model, img_width, img_height, config.cnn_enable_tensorrt,
         37:         config.cnn_enable_tensorrt_fp16, config.cnn_enable_tensorrt_int8,
      >  38:         config.netvlad_int8_calib_table_name);
         39:         
         40:     SuperPoint::SuperPointConfig sp_config = config.superpoint_config;
         41:     superpoint_ptr = std::make_unique<SuperPoint>(sp_config);
#4  | Source "/root/swarm_ws/src/D2SLAM/d2frontend/include/d2frontend/CNN/mobilenetvlad_onnx.h", line 38, in row
    |    36:             auto pca = load_csv_mat_eigen(params->pca_netvlad);
    |    37:             // This first row is the mean
    | >  38:             pca_mean = pca.row(0).transpose();
    |    39:             // // The rest is the components
    |    40:             pca_comp_T = pca.block(1, 0, pca.rows() - 1, pca.cols());
    | Source "/usr/include/eigen3/Eigen/src/plugins/BlockMethods.h", line 861, in Block
    |   859: inline RowXpr row(Index i)
    |   860: {
    | > 861:   return RowXpr(derived(), i);
    |   862: }
      Source "/usr/include/eigen3/Eigen/src/Core/Block.h", line 120, in MobileNetVLADONNX [0x72214e0300dd]
        117:     EIGEN_DEVICE_FUNC
        118:     inline Block(XprType& xpr, Index i) : Impl(xpr,i)
        119:     {
      > 120:       eigen_assert( (i>=0) && (
        121:           ((BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) && i<xpr.rows())
        122:         ||((BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) && i<xpr.cols())));
        123:     }
#3    Source "/build/glibc-LcI20x/glibc-2.31/assert/assert.c", line 101, in __assert_fail [0x72214bb7ffd5]
#2    Source "/build/glibc-LcI20x/glibc-2.31/assert/assert.c", line 92, in __assert_fail_base [0x72214bb6e728]
#1    Source "/build/glibc-LcI20x/glibc-2.31/stdlib/abort.c", line 79, in abort [0x72214bb6e858]
#0    Source "../sysdeps/unix/sysv/linux/raise.c", line 51, in raise [0x72214bb8f00b]
Aborted (Signal sent by tkill() 8519 0)
[d2vins-2] process has died [pid 8519, exit code -6, cmd nice --20 /root/swarm_ws/devel/lib/d2vins/d2vins_node __name:=d2vins __log:=/root/.ros/log/4c34f14e-6abb-11ef-a642-847b577263a2/d2vins-2.log].
log file: /root/.ros/log/4c34f14e-6abb-11ef-a642-847b577263a2/d2vins-2*.log
^C[d2comm-4] killing on exit
[d2pgo-3] killing on exit
terminate called without an active exception
[rosout-1] killing on exit
[master] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

How to fix this issue?

[ShreyasKuntnal]

I checked ChatGPT and tried rebuilding d2vins(catkin clean --dependents d2vins && catkin build d2vins --no-deps) like this:
d2vins/cmakelist.txt:
set(CMAKE_C_COMPILER /root/compiler/x86_64-w64-ranlib.exe)
set(CMAKE_CXX_COMPILER /root/compiler/x86_64-w64-ranlib.exe)

[ShreyasKuntnal]

@Shadi201711 Thank you so much for the quick reply sir, but how to use that compiler in docker. I did the above changes, is that right?

CMake running continuously for 21 mins with above compiler required changes made:

[ShreyasKuntnal]

@Peize-Liu,There are some suspicious messages like this:

try this
https://gofile.io/d/yMHabA
select the desired compiler in the installer

Can you people check this please?
U can see previous comment I have mentioned one guy he replied that message. There were 2 3 other persons too.

[Peize-Liu]

@Peize-Liu,There are some suspicious messages like this:

try this

https://gofile.io/d/yMHabA

select the desired compiler in the installer

Can you people check this please?

U can see previous comment I have mentioned one guy he replied that message. There were 2 3 other persons too.

looks not good，I will delete them.

[ShreyasKuntnal]

Thank you for the reply @Peize-Liu .
Can you please reply back on the above issue too please??

[ShreyasKuntnal]

I fixed the above issue by passing absolute path in realsense launch file. But It raised another issue:

... logging to /root/.ros/log/36ae9c7a-6b89-11ef-91a8-847b577263a2/roslaunch-vt008-3270.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://vt008:32997/

SUMMARY
========

PARAMETERS
 * /d2comm/lcm_uri: udpm://224.0.0.25...
 * /d2comm/self_id: 1
 * /d2pgo/is_4dof: False
 * /d2pgo/self_id: 1
 * /d2pgo/vins_config_path: /root/swarm_ws/sr...
 * /d2vins/accept_min_3d_pts: 30
 * /d2vins/depth_far_thres: 100
 * /d2vins/detector_match_thres: 0.7
 * /d2vins/enable_loop: True
 * /d2vins/enable_network: True
 * /d2vins/enable_pca_netvlad: False
 * /d2vins/enable_pub_remote_img: False
 * /d2vins/enable_sub_remote_img: False
 * /d2vins/init_query_thres: 0.2
 * /d2vins/inter_drone_init_frames: 3
 * /d2vins/is_4dof: False
 * /d2vins/jpg_quality: 75
 * /d2vins/lcm_uri: udpm://224.0.0.25...
 * /d2vins/loop_cov_pos: 0.1
 * /d2vins/lower_cam_as_main: False
 * /d2vins/match_index_dist: 100
 * /d2vins/match_index_dist_remote: 20
 * /d2vins/min_direction_loop: 1
 * /d2vins/min_match_per_dir: 20
 * /d2vins/min_movement_keyframe: 0.1
 * /d2vins/netvlad_model_path: /root/swarm_ws/sr...
 * /d2vins/nonkeyframe_waitsec: 5.0
 * /d2vins/odometry_consistency_threshold: 3.0
 * /d2vins/output_path: /home/dji/output/
 * /d2vins/output_raw_superpoint_desc: False
 * /d2vins/pca_comp_path: /root/swarm_ws/sr...
 * /d2vins/pca_mean_path: /root/swarm_ws/sr...
 * /d2vins/pca_netvlad: /root/swarm_ws/sr...
 * /d2vins/pos_covariance_per_meter: 0.01
 * /d2vins/query_thres: 0.2
 * /d2vins/recv_msg_duration: 0.5
 * /d2vins/self_id: 1
 * /d2vins/send_all_features: False
 * /d2vins/send_img: False
 * /d2vins/send_whole_img_desc: False
 * /d2vins/show: False
 * /d2vins/superglue_model_path: /root/swarm_ws/sr...
 * /d2vins/superpoint_model_path: /root/swarm_ws/sr...
 * /d2vins/superpoint_thres: 0.1
 * /d2vins/triangle_thres: 0.012
 * /d2vins/vins_config_path: /root/swarm_ws/sr...
 * /d2vins/yaw_covariance_per_meter: 0.003
 * /rosdistro: noetic
 * /rosversion: 1.16.0

NODES
  /
    d2comm (d2comm/d2comm_node)
    d2pgo (d2pgo/d2pgo_node)
    d2vins (d2vins/d2vins_node)

auto-starting new master
process[master]: started with pid [3293]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 36ae9c7a-6b89-11ef-91a8-847b577263a2
process[rosout-1]: started with pid [3318]
started core service [/rosout]
process[d2vins-2]: started with pid [3321]
process[d2pgo-3]: started with pid [3322]
process[d2comm-4]: started with pid [3323]
D2Comm starting....
[D2Comm] Try to initialize LCM URI: udpm://224.0.0.251:7667?ttl=1
[ INFO] [1725542255.314724389]: [D2Comm] Drone 1 ready.
[ INFO] [1725542255.315440515]: [D2Comm] Starting d2comm lcm thread.
PGO Loaded VINS config from /root/swarm_ws/src/D2SLAM/d2vins/../config/realsense_d435/d435_single.yaml
[D2PGO] In single mode enable_pcm 1 pcm_thres 2.8
[D2PGO] PGOState: is 6dof
[D2PGONode@1] Initialized
Read VINS config from /root/swarm_ws/src/D2SLAM/d2vins/../config/realsense_d435/d435_single.yaml
superpoint_config.max_keypoints: 150
superpoint_config.onnx_path: 
superpoint_config.engine_path: 
superpoint_config.keypoint_threshold: 0.000000
[13:17:36][info][d2frontend_params.cpp,D2FrontendParams,L181] [D2FrontendParams] enable_search_local_aera not found, use default

[13:17:36][info][d2frontend_params.cpp,D2FrontendParams,L232] [D2Frontend] Using lazy broadcast keyframe: false
[13:17:36][info][d2frontend_params.cpp,readCameraConfigs,L344] Read camera from config file
[13:17:36][info][d2frontend_params.cpp,readCameraConfigs,L368] Camera 0: topic: /camera/infra1/image_rect_raw, calib: /root/swarm_ws/src/D2SLAM/d2vins/../config/realsense_d435/left.yaml, T: T [+0.099,+0.020,+0.010] YPR [-89.4,-1.0,-89.4]
[13:17:36][info][d2frontend_params.cpp,readCameraConfigs,L368] Camera 1: topic: /camera/infra2/image_rect_raw, calib: /root/swarm_ws/src/D2SLAM/d2vins/../config/realsense_d435/right.yaml, T: T [+0.099,-0.030,+0.011] YPR [-89.3,-1.0,-89.4]
[13:17:36][info][d2frontend_params.cpp,generateCameraModels,L262] [D2Frontend] Read camera from /root/swarm_ws/src/D2SLAM/d2vins/../config/realsense_d435/left.yaml
[13:17:36][info][d2frontend_params.cpp,generateCameraModels,L262] [D2Frontend] Read camera from /root/swarm_ws/src/D2SLAM/d2vins/../config/realsense_d435/right.yaml
[13:17:36][warning][d2frontend_params.cpp,generateCameraModels,L282] [D2Frontend] No photometric calibration file provided
[13:17:36][info][d2frontend_params.cpp,generateCameraModels,L307] [D2Frontend] Focal length initialize to: 460.0
[13:17:36][info][loop_cam.cpp,LoopCam,L34] Init CNNs using onnx
Trying to init MobileNetVLADONNX@/root/swarm_ws/src/D2SLAM/d2frontend/../models/mobilenetvlad_dyn_size.onnx tensorrt 0 fp16 1 int8 0 pca 1
[D2FrontEnd] Loading PCA for MobileNetVLADONNX: 
PCA matrix rows: 1025, cols: 4096
PCA Comp shape 1024 x 4096 mean 4096
[13:17:37][warning][,,L] [Superpoint]: deserialize engine failed; try to read from 
[09/05/2024-13:17:37] [I] [TRT] [MemUsageChange] Init CUDA: CPU +564, GPU +0, now: CPU 2122, GPU 459 (MiB)
[09/05/2024-13:17:38] [I] [TRT] [MemUsageChange] Init builder kernel library: CPU +433, GPU +104, now: CPU 2574, GPU 563 (MiB)
[13:17:38][error][superpoint.cpp,build,L57] SuperPoint config: input tensor names are empty!
Stack trace (most recent call last):
#7    Object "", at 0xffffffffffffffff, in 
#6    Source "/root/swarm_ws/src/D2SLAM/d2vins/src/d2vins_node.cpp", line 326, in _start [0x5faf3028ce6d]
        323:   d2vins.stopFrontend();
        324:   d2vins.stopAllThread();
        325:   return 0;
      > 326: }
#5    Source "../csu/libc-start.c", line 308, in __libc_start_main [0x7a0be1888082]
#4  | Source "/root/swarm_ws/src/D2SLAM/d2vins/src/d2vins_node.cpp", line 317, in D2VINSNode
    |   315:   // spdlog::set_level(spdlog::level::debug);
    |   316: 
    | > 317:   D2VINSNode d2vins(n);
    |   318:   // ros::AsyncSpinner spinner(4);
    |   319:   // spinner.start();
      Source "/root/swarm_ws/src/D2SLAM/d2vins/src/d2vins_node.cpp", line 305, in main [0x5faf3028c2a1]
        302:   }
        303: 
        304:  public:
      > 305:   D2VINSNode(ros::NodeHandle &nh) { Init(nh); }
        306: };
        307: 
        308: int main(int argc, char **argv) {
#3    Source "/root/swarm_ws/src/D2SLAM/d2vins/src/d2vins_node.cpp", line 254, in Init [0x5faf302c8ee7]
        251:   }
        252: 
        253:   void Init(ros::NodeHandle &nh) {
      > 254:     D2Frontend::Init(nh);
        255:     initParams(nh);
        256:     estimator = new D2Estimator(params->self_id);
        257:     d2vins_net = new D2VINSNet(estimator, params->lcm_uri);
#2    Source "/root/swarm_ws/src/D2SLAM/d2frontend/src/d2frontend.cpp", line 295, in Init [0x7a0be3da692e]
        292:   loop_net =
        293:       new LoopNet(params->_lcm_uri, params->send_img,
        294:                   params->send_whole_img_desc, params->recv_msg_duration);
      > 295:   loop_cam = new LoopCam(*(params->loopcamconfig), nh);
        296:   feature_tracker = new D2FeatureTracker(*(params->ftconfig));
        297:   feature_tracker->cams = loop_cam->cams;
        298:   loop_detector =
#1    Source "/root/swarm_ws/src/D2SLAM/d2frontend/src/loop_cam.cpp", line 42, in LoopCam [0x7a0be3d1a45b]
         40:     SuperPoint::SuperPointConfig sp_config = config.superpoint_config;
         41:     superpoint_ptr = std::make_unique<SuperPoint>(sp_config);
      >  42:     if (superpoint_ptr->build()){
         43:       SPDLOG_INFO("SuperPoint build success");
         44:     } else {
         45:       SPDLOG_ERROR("SuperPoint build failed");
#0  | Source "/root/swarm_ws/src/D2SLAM/d2frontend/src/CNN/superpoint.cpp", line 59, in c_str
    |    57:         SPDLOG_ERROR("SuperPoint config: input tensor names are empty!");
    |    58:     }
    | >  59:     profile->setDimensions(super_point_config_.input_tensor_names[0].c_str(),
    |    60:                            OptProfileSelector::kOPT, Dims4(1, 1, 500, 500));
    |    61:     profile->setDimensions(super_point_config_.input_tensor_names[0].c_str(),
      Source "/usr/include/c++/9/bits/basic_string.h", line 2305, in build [0x7a0be3f07155]
       2302:       */
       2303:       const _CharT*
       2304:       c_str() const _GLIBCXX_NOEXCEPT
      >2305:       { return _M_data(); }
       2306: 
       2307:       /**
       2308:        *  @brief  Return const pointer to contents.
Segmentation fault (Address not mapped to object [(nil)])
[d2vins-2] process has died [pid 3321, exit code -11, cmd nice --20 /root/swarm_ws/devel/lib/d2vins/d2vins_node __name:=d2vins __log:=/root/.ros/log/36ae9c7a-6b89-11ef-91a8-847b577263a2/d2vins-2.log].
log file: /root/.ros/log/36ae9c7a-6b89-11ef-91a8-847b577263a2/d2vins-2*.log

@Peize-Liu @dvorak0 Can please tell what needs to be done how to fix this issue?

[ShreyasKuntnal]

@Peize-Liu can anyone please help with this above issue!!

[Peize-Liu]

@Peize-Liu can anyone please help with this above issue!!
There is something wrong with your superpoint onnx model; please check.
[13:17:37][warning][,,L] [Superpoint]: deserialize engine failed; try to read from

[ShreyasKuntnal]

Have you said anything about the issue?
@Peize-Liu

I don't see any text here...

I have tried multiple ways to debug things, but I keep encountering issues in one way or another. (Disclaimer: I followed the steps exactly as specified in the documentation, without taking any additional steps while working with OmniNXT). I really need your assistance. Furthermore, I completely accept that I might be missing something, so could you please help me with this? If you're held up and unable to reply right away, please let me know. I can wait for a specified time, but I would appreciate any response.