Issue related with depth estimation

[nuyhead-hwang]

Hi @Peize-Liu

When I tried to execute your program on my Jetson Orin NX's Docker, following your guide, the error below occurred.

terminate called after throwing an instance of 'cv::Exception'
  what():  OpenCV(4.6.0) /opencv-4.6.0/modules/imgproc/src/color.simd_helpers.hpp:92: error: (-2:Unspecified error) in function 'cv::impl::{anonymous}::CvtHelper<VScn, VDcn, VDepth, sizePolicy>::CvtHelper(cv::InputArray, cv::OutputArray, int) [with VScn = cv::impl::{anonymous}::Set<1>; VDcn = cv::impl::{anonymous}::Set<3, 4>; VDepth = cv::impl::{anonymous}::Set<0, 2, 5>; cv::impl::{anonymous}::SizePolicy sizePolicy = cv::impl::<unnamed>::NONE; cv::InputArray = const cv::_InputArray&; cv::OutputArray = const cv::_OutputArray&]'
> Invalid number of channels in input image:
>     'VScn::contains(scn)'
> where
>     'scn' is 3

[quadcam_depth_est-5] process has died [pid 1600, exit code -6, cmd /root/swarm_ws/devel/lib/quadcam_depth_est/quadcam_depth_est_node __name:=quadcam_depth_est __log:=/root/.ros/log/0cfef8a0-95de-11ef-b11f-48b02df90cb5/quadcam_depth_est-5.log].
log file: /root/.ros/log/0cfef8a0-95de-11ef-b11f-48b02df90cb5/quadcam_depth_est-5*.log
^C[d2comm-4] killing on exit
[d2vins-2] killing on exit
[d2pgo-3] killing on exit
terminate called without an active exception
2024-10-29 10:10:47.982207523 [W:onnxruntime:, session_state.cc:1030 VerifyEachNodeIsAssignedToAnEp] Some nodes were not assigned to the preferred execution providers which may or may not have an negative impact on performance. e.g. ORT explicitly assigns shape related ops to CPU to improve perf.
2024-10-29 10:10:47.987987115 [W:onnxruntime:, session_state.cc:1032 VerifyEachNodeIsAssignedToAnEp] Rerunning with verbose output on a non-minimal build will show node assignments.
Trying to init MobileNetVLADONNX@/root/swarm_ws/src/D2SLAM/models/netvlad_series/mobilenetvlad_dyn_size.onnx tensorrt 0 fp16 1 int8 0 pca 0

[Peize-Liu]

Can you provide more information about the configurations and your running command?

[nuyhead-hwang]

I just changed one parameter which is named 'depth_gen' to true in quadcam.launch

[Peize-Liu]

Could you run only the quadam_depth_est node? I’d appreciate more details. Additionally, it would be helpful if you could build the packages in DEBUG mode and use GDB to identify where the node crashes.