error occurred when running video slam on server.

[takerfume]

I excuted this shell script on the server (VM instance on Compute Engine. Ubuntu 18.04.).
I make environment for socket viewer.
I got an error. How can I fix it?

script I executed.

#! /bin/bash
VIDEO_PATH=$1

  ${OPENVSLAM_PATH}/openvslam/build/run_video_slam \
      -v ${OPENVSLAM_PATH}/openvslam/build/orb_vocab.fbow \
      -m ${VIDEO_PATH} \
      -c /openvslam/config/theta_v_mp4.yaml \
      --frame-skip 1 \
      --no-sleep \
      --auto-term \
      --map-db ${OPENVSLAM_PATH}/openvslam/build/map.msg \
      --eval-log \

This is the log.

OpenVSLAM root:/openvslam$ source run_openvslam_from_video.sh data/kamakura/R0013872.MP4
[2021-09-18 12:20:05.596] [I] config file loaded: /openvslam/config/theta_v_mp4.yaml
[2021-09-18 12:20:05.596] [I] 
  ___               __   _____ _      _   __  __ 
 / _ \ _ __  ___ _ _\ \ / / __| |    /_\ |  \/  |
| (_) | '_ \/ -_) ' \\ V /\__ \ |__ / _ \| |\/| |
 \___/| .__/\___|_||_|\_/ |___/____/_/ \_\_|  |_|
      |_|                                        
Copyright (C) 2019,
National Institute of Advanced Industrial Science and Technology (AIST)
All rights reserved.
This is free software,
and you are welcome to redistribute it under certain conditions.
See the LICENSE file.
Camera:
  color_order: !<!> RGB
  setup: !<!> monocular
  rows: 1920
  name: !<!> RICOH THETA V
  fps: 30.0
  cols: 3840
  model: !<!> equirectangular
Tracking:
  max_num_keypoints: 5000
Feature:
  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]
  scale_factor: 1.2
  min_fast_threshold: 7
  ini_fast_threshold: 20
  num_levels: 8
Mapping:
  baseline_dist_thr_ratio: 0.02
[2021-09-18 12:20:05.596] [I] loading ORB vocabulary: /root/catkin_ws/src/openvslam/build/orb_vocab.fbow
[2021-09-18 12:20:05.624] [I] startup SLAM system
[2021-09-18 12:20:05.625] [I] start mapping module
[2021-09-18 12:20:05.625] [I] start global optimization module
[2021-09-18 12:20:05] [info] asio async_connect error: asio.system:111 (Connection refused)
[2021-09-18 12:20:05] [info] Error getting remote endpoint: asio.system:107 (Transport endpoint is not connected)
[2021-09-18 12:20:05] [error] handle_connect error: Connection refused

I built this docker file.
https://github.com/OpenVSLAM-Community/openvslam/blob/main/Dockerfile.socket

I run container image by this command.

#! /bin/bash

# pangolin or socket
VIEWER_TYPE=socket

docker run \
    --name openvslam_${VIEWER_TYPE} \
    -it --rm \
    --net host \
    --volume /etc/localtime:/etc/localtime:ro \
    --volume $PWD/../../vslam/openvslam:/openvslam \
    openvslam-intel:${VIEWER_TYPE}

[ymd-stella]

Read https://openvslam-community.readthedocs.io/en/latest/docker.html#docker-image-of-server.

[ymd-stella]

https://github.com/OpenVSLAM-Community/openvslam/blob/60cbdc92e7cf4f61d409e6a105098fefbcc3f2e6/Dockerfile.socket#L185

to

 -DUSE_SOCKET_PUBLISHER=OFF

[takerfume]

thank you.

I tried building docker file with -DUSE_SOCKET_PUBLISHER=OFF but I got another error.
How can I fix this?

I executed openvslam/build/run_video_slam and I got the following error.

bash: /root/catkin_ws/src/openvslam/build/run_video_slam: No such file or directory

If I watched files in root/catkin_ws/src/openvslam/build/, there is no run_* script.

OpenVSLAM root:~/catkin_ws/src/openvslam/build (main)$ ls
3rd  aist_living_lab_1  aist_living_lab_1.zip  aist_living_lab_2  aist_living_lab_2.zip  generated  install_manifest.txt  lib  orb_vocab.fbow

FYI, when I watched files in the same directory on docker image build with docker file with -DUSE_SOCKET_PUBLISHER=ON,
I can get various run-* files including run_video_slam .

OpenVSLAM root:~/catkin_ws/src/openvslam/build (main)$ ls
3rd                aist_living_lab_1.zip  aist_living_lab_2.zip  install_manifest.txt  orb_vocab.fbow           run_camera_slam         run_euroc_slam          run_image_slam  run_tum_rgbd_localization  run_video_localization
aist_living_lab_1  aist_living_lab_2      generated              lib                   run_camera_localization  run_euroc_localization  run_image_localization  run_kitti_slam  run_tum_rgbd_slam          run_video_slam

[ymd-stella]

Obviously, you are trying to reference the wrong path. The container you are trying to compare is clearly distinct from the one you described.

[takerfume]

Sorry, I modified file path from official docker file.
I will build official file and try again and I will report the results here.

[takerfume]

Hi, I built official docker file with -DUSE_SOCKET_PUBLISHER=OFF and
the following errors disappeared and I succeeded to run vslam.

Thank you!

[2021-09-18 12:20:05] [info] asio async_connect error: asio.system:111 (Connection refused)
[2021-09-18 12:20:05] [info] Error getting remote endpoint: asio.system:107 (Transport endpoint is not connected)
[2021-09-18 12:20:05] [error] handle_connect error: Connection refused