not enough points for tracking

[Warsin]

when i launch the kitti.launch and the kitti_04.bag which i download from the sptam project, i meet this　warning , and then i have no output result in ~/.ros/clouds

[taihup]

Hi Warsin, could you paste the terminal output here? remember to run on terminal:

roscore &
rosparam set use_sim_time true
rosbag play --clock --rate 0.1 kitti_04.bag

[Warsin]

when i run roslaunch src/dense-sptam/launch/kitti.launch & rosbag play --clock path/to/your/kitti.bag i meet this in terminal: [ INFO] [1529570960.970479241]: Loading nodelet /dense of type dense/denseNodelet to manager nodelet_manager with the following remappings: [ INFO] [1529570960.971035005]: /dense/keyframes -> /sptam/keyframes [ INFO] [1529570961.269934397]: S-PTAM stereo node initialized. [ INFO] [1529570961.630599970]: DENSE node initialized. rosbag play --clock kitti_04.bag [ INFO] [1529570976.885650110]: Opening kitti_04.bag

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step. [ INFO] [1529570977.674896351, 1385799339.561161995]: init calib8.108940
[ INFO] [1529570977.675609345, 1385799339.561161995]: baseline: 0.537151 [ INFO] [1529570977.720253008, 1385799339.561161995]: Trying to intialize map... [ INFO] [1529570977.787974284, 1385799339.561161995]: Map initialized with 130 points. [ WARN] [1529570980.442324406, 1385799339.561161995]: Not enough points for tracking. [ WARN] [1529570981.884402515, 1385799339.561161995]: Not enough points for tracking. [ WARN] [1529570983.413479241, 1385799339.561161995]: Not enough points for tracking. [ WARN] [1529570983.759056404, 1385799339.561161995]: Not enough points for tracking. [ WARN] [1529570985.055157351, 1385799339.561161995]: Not enough points for tracking. [ WARN] [1529570985.549257729, 1385799339.561161995]: Not enough points for tracking. [ WARN] [1529570985.766052891, 1385799339.561161995]: Not enough points for tracking. [ WARN] [1529570986.231529569, 1385799339.561161995]: Not enough points for tracking. [ WARN] [1529570986.975968928, 1385799339.561161995]: Not enough points for tracking. [ WARN] [1529570987.655287206, 1385799339.561161995]: Not enough points for tracking. [ WARN] [1529570988.028875621, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529570989.300185360, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529570989.997125320, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529570991.312939734, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529570991.565123562, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529570992.722895759, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529570992.765493756, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529570993.143247701, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529570993.951083267, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529570995.041895397, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529570995.827613300, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529570995.968390639, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529570996.166484334, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529570996.441586187, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529570996.687139098, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529570996.949713367, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529570997.856295341, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529570998.377672408, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529570999.179960507, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529570999.243885647, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529570999.540931539, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529571000.121260339, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529571001.125941498, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529571001.476573238, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529571002.378970756, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529571002.725887595, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529571003.082918782, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529571003.305880644, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529571003.679541904, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529571004.271051863, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529571004.490242222, 1385799339.561161995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1529571004.765001701, 1385799339.561161995]: Not enough points for tracking

[Warsin]

but when i run roslaunch src/dense-sptam/launch/kitti.launch & rosbag play --clock --rate 0.1 kitti_04.bag i meet this: auto-starting new master process[master]: started with pid [85] ROS_MASTER_URI=http://127.0.0.1:11311

setting /run_id to b1117b30-7532-11e8-a2c8-000c2986eb06 process[rosout-1]: started with pid [98] started core service [/rosout] process[start_broadcaster-2]: started with pid [118] process[sptam_path-3]: started with pid [119] process[nodelet_manager-4]: started with pid [137] [ INFO] [1529572125.428744450]: Initializing nodelet with 4 worker threads. process[sptam-5]: started with pid [161] [ INFO] [1529572125.893189418]: Loading nodelet /sptam of type sptam/sptam_nodelet to manager nodelet_manager with the following remappings: [ INFO] [1529572125.893319381]: /stereo/left/camera_info -> /kitti_stereo/left/camera_info [ INFO] [1529572125.893357602]: /stereo/left/image_rect -> /kitti_stereo/left/image_rect [ INFO] [1529572125.893587453]: /stereo/right/camera_info -> /kitti_stereo/right/camera_info [ INFO] [1529572125.893632843]: /stereo/right/image_rect -> /kitti_stereo/right/image_rect crossCheck: 0 OpenCV: threads set to -1 nfeatures: 1000 qualityLevel: 0.01 minDistance: 15 blockSize: 3 useHarrisDetector: 0 k: 0.04 nfeatures: 1000 qualityLevel: 0.01 minDistance: 15 blockSize: 3 useHarrisDetector: 0 k: 0.04 bytes: 32 use_orientation: 0 bytes: 32 use_orientation: 0 process[dense-6]: started with pid [188] [ INFO] [1529572126.490738690]: Loading nodelet /dense of type dense/denseNodelet to manager nodelet_manager with the following remappings: [ INFO] [1529572126.490883237]: /dense/keyframes -> /sptam/keyframes [ INFO] [1529572126.782521508]: S-PTAM stereo node initialized. [ INFO] [1529572127.322514652]: DENSE node initialized. [ INFO] [1529572130.203967090]: Opening kitti_04.bag

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step. [ INFO] [1529572130.735223612, 1385799339.661297826]: init calib8.108940
[ INFO] [1529572130.735660508, 1385799339.661297826]: baseline: 0.537151 [ INFO] [1529572130.785293238, 1385799339.661297826]: Trying to intialize map... [ INFO] [1529572130.842278877, 1385799339.661297826]: Map initialized with 137 points. [RUNNING] Bag Time: 1385799367.148107 Duration: 27.586945 / 28.108940
Done. it seems that just play the bag and do nothing.

[taihup]

Are you using rviz to visualise the output? Try to check if the topics are being published using the terminal command rostopic list and rostopic echo

On Thu, Jun 21, 2018 at 10:11 AM Warsin notifications@github.com wrote:

but when i run roslaunch src/dense-sptam/launch/kitti.launch & rosbag play --clock --rate 0.1 kitti_04.bag i meet this: auto-starting new master process[master]: started with pid [85] ROS_MASTER_URI=http://127.0.0.1:11311

setting /run_id to b1117b30-7532-11e8-a2c8-000c2986eb06 process[rosout-1]: started with pid [98] started core service [/rosout] process[start_broadcaster-2]: started with pid [118] process[sptam_path-3]: started with pid [119] process[nodelet_manager-4]: started with pid [137] [ INFO] [1529572125.428744450]: Initializing nodelet with 4 worker threads. process[sptam-5]: started with pid [161] [ INFO] [1529572125.893189418]: Loading nodelet /sptam of type sptam/sptam_nodelet to manager nodelet_manager with the following remappings: [ INFO] [1529572125.893319381]: /stereo/left/camera_info -> /kitti_stereo/left/camera_info [ INFO] [1529572125.893357602]: /stereo/left/image_rect -> /kitti_stereo/left/image_rect [ INFO] [1529572125.893587453]: /stereo/right/camera_info -> /kitti_stereo/right/camera_info [ INFO] [1529572125.893632843]: /stereo/right/image_rect -> /kitti_stereo/right/image_rect crossCheck: 0 OpenCV: threads set to -1 nfeatures: 1000 qualityLevel: 0.01 minDistance: 15 blockSize: 3 useHarrisDetector: 0 k: 0.04 nfeatures: 1000 qualityLevel: 0.01 minDistance: 15 blockSize: 3 useHarrisDetector: 0 k: 0.04 bytes: 32 use_orientation: 0 bytes: 32 use_orientation: 0 process[dense-6]: started with pid [188] [ INFO] [1529572126.490738690]: Loading nodelet /dense of type dense/denseNodelet to manager nodelet_manager with the following remappings: [ INFO] [1529572126.490883237]: /dense/keyframes -> /sptam/keyframes [ INFO] [1529572126.782521508]: S-PTAM stereo node initialized. [ INFO] [1529572127.322514652]: DENSE node initialized. [ INFO] [1529572130.203967090]: Opening kitti_04.bag

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step. [ INFO] [1529572130.735223612, 1385799339.661297826]: init calib8.108940 [ INFO] [1529572130.735660508, 1385799339.661297826]: baseline: 0.537151 [ INFO] [1529572130.785293238, 1385799339.661297826]: Trying to intialize map... [ INFO] [1529572130.842278877, 1385799339.661297826]: Map initialized with 137 points. [RUNNING] Bag Time: 1385799367.148107 Duration: 27.586945 / 28.108940 Done. it seems that just play the bag and do nothing.

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[Warsin]

@taihup oh~,there are some topics are being published,"/sptam/keyframes ,/sptam/local_keyframes, /sptam/local_map, /sptam/robot/path, /sptam/robot/pose " and so on ,but the topic /dense/dense_cloud is not being published. and the result is also not saved

root@ubuntu-virtual-machine:/usr/src/dense_sptam# rostopic echo /dense/dense_cloud WARNING: no messages received and simulated time is active. Is /clock being published?

[taihup]

you must create the directory clouds inside the ~/.ros/ directory. This is: cd ~/.ros mkdir clouds

[Warsin]

of course ,i have created the directory clouds,but it did not save anything. Is this parameter"output_dir" should do some change?

[Warsin]

@taihup hi,i am so sorry for interrupting you，i found it not normally do these code, it did not do the saveall() rightly . can you tell me the right way to stop the project , i used crtl+c to stop it ,was it right? dense::denseInterface::~denseInterface() { std::cout << "Starting DENSE node cleanup..." << std::endl; this->dense->pointclouds->saveall(dense->parameters.output_dir.c_str()); std::cout << "Done!" << std::endl; ros::Duration(1.0).sleep(); }

[Warsin]

@taihup this is log what i meet

[RUNNING] Bag Time: 1385799367.648178 Duration: 28.087016 / 28.108940
[RUNNING] Bag Time: 1385799367.658286 Duration: 28.097124 / 28.108940
[RUNNING] Bag Time: 1385799367.668401 Duration: 28.107239 / 28.108940
Done. root@ubuntu-virtual-machine:/usr/src/dense_sptam# rosnode kill -a killing:

• /dense
• /nodelet_manager
• /rosout
• /sptam
• /sptam_path

• /start_broadcaster [ WARN] [1529926160.100141618, 1385799367.669410815]: Shutdown request received. Reason: [user request] [ WARN] [1529926160.101862879, 1385799367.669410815]: Shutdown request received. [ WARN] [1529926160.101994488, 1385799367.669410815]: Reason given for shutdown: [user request] [ WARN] [1529926160.105003662, 1385799367.669410815]: Shutdown request received. Reason: [user request] killed [ INFO] [1529926160.118841885, 1385799367.669410815]: Unloading nodelet /sptam from manager nodelet_manager [ INFO] [1529926160.123604531, 1385799367.669410815]: Unloading nodelet /dense from manager nodelet_manager root@ubuntu-virtual-machine:/usr/src/dense_sptam# [rosout-1] process has finished cleanly log file: /root/.ros/log/4b26667e-786a-11e8-903a-000c2986eb06/rosout-1.log [start_broadcaster-2] process has finished cleanly log file: /root/.ros/log/4b26667e-786a-11e8-903a-000c2986eb06/start_broadcaster-2.log [sptam_path-3] process has finished cleanly log file: /root/.ros/log/4b26667e-786a-11e8-903a-000c2986eb06/sptam_path-3.log [rosout-1] restarting process Starting DENSE node cleanup... process[rosout-1]: started with pid [74126] ================================================================================REQUIRED process [nodelet_manager-4] has died! process has died [pid 67653, exit code -11, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=nodelet_manager __log:=/root/.ros/log/4b26667e-786a-11e8-903a-000c2986eb06/nodelet_manager-4.log]. log file: /root/.ros/log/4b26667e-786a-11e8-903a-000c2986eb06/nodelet_manager-4.log Initiating shutdown!

  [dense-6] killing on exit [sptam-5] killing on exit [nodelet_manager-4] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

[taihup]

mmm as I remember ctrl-c was the way to kill the dense-sptam node... I will try to check it when I have a moment. There could be bugs as always ;S

If you make dense-sptam works, remember to comment the solution so it can help to others.

On Mon, Jun 25, 2018 at 12:31 PM Warsin notifications@github.com wrote:

@taihup https://github.com/taihup this is log what i meet

[RUNNING] Bag Time: 1385799367.648178 Duration: 28.087016 / 28.108940 [RUNNING] Bag Time: 1385799367.658286 Duration: 28.097124 / 28.108940 [RUNNING] Bag Time: 1385799367.668401 Duration: 28.107239 / 28.108940 Done. root@ubuntu-virtual-machine:/usr/src/dense_sptam# rosnode kill -a killing:

• /dense
• /nodelet_manager
• /rosout
• /sptam
• /sptam_path

• /start_broadcaster [ WARN] [1529926160.100141618, 1385799367.669410815]: Shutdown request received. Reason: [user request] [ WARN] [1529926160.101862879, 1385799367.669410815]: Shutdown request received. [ WARN] [1529926160.101994488, 1385799367.669410815]: Reason given for shutdown: [user request] [ WARN] [1529926160.105003662, 1385799367.669410815]: Shutdown request received. Reason: [user request] killed nodelet /sptam from manager nodelet_manager nodelet /dense from manager nodelet_manager root@ubuntu-virtual-machine:/usr/src/dense_sptam# [rosout-1] process has finished cleanly log file: /root/.ros/log/4b26667e-786a-11e8-903a-000c2986eb06/rosout-1.log [start_broadcaster-2] process has finished cleanly log file: /root/.ros/log/4b26667e-786a-11e8-903a-000c2986eb06/start_broadcaster-2.log [sptam_path-3] process has finished cleanly log file: /root/.ros/log/4b26667e-786a-11e8-903a-000c2986eb06/sptam_path-3.log [rosout-1] restarting process Starting DENSE node cleanup... process[rosout-1]: started with pid [74126] ================================================================================REQUIRED process [nodelet_manager-4] has died! process has died [pid 67653, exit code -11, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=nodelet_manager __log:=/root/.ros/log/4b26667e-786a-11e8-903a-000c2986eb06/nodelet_manager-4.log]. log file: /root/.ros/log/4b26667e-786a-11e8-903a-000c2986eb06/nodelet_manager-4.log Initiating shutdown!

  ================================================================================ [dense-6] killing on exit [sptam-5] killing on exit [nodelet_manager-4] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

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[wutongyu98]

but when i run roslaunch src/dense-sptam/launch/kitti.launch & rosbag play --clock --rate 0.1 kitti_04.bag i meet this: auto-starting new master process[master]: started with pid [85] ROS_MASTER_URI=http://127.0.0.1:11311

setting /run_id to b1117b30-7532-11e8-a2c8-000c2986eb06 process[rosout-1]: started with pid [98] started core service [/rosout] process[start_broadcaster-2]: started with pid [118] process[sptam_path-3]: started with pid [119] process[nodelet_manager-4]: started with pid [137] [ INFO] [1529572125.428744450]: Initializing nodelet with 4 worker threads. process[sptam-5]: started with pid [161] [ INFO] [1529572125.893189418]: Loading nodelet /sptam of type sptam/sptam_nodelet to manager nodelet_manager with the following remappings: [ INFO] [1529572125.893319381]: /stereo/left/camera_info -> /kitti_stereo/left/camera_info [ INFO] [1529572125.893357602]: /stereo/left/image_rect -> /kitti_stereo/left/image_rect [ INFO] [1529572125.893587453]: /stereo/right/camera_info -> /kitti_stereo/right/camera_info [ INFO] [1529572125.893632843]: /stereo/right/image_rect -> /kitti_stereo/right/image_rect crossCheck: 0 OpenCV: threads set to -1 nfeatures: 1000 qualityLevel: 0.01 minDistance: 15 blockSize: 3 useHarrisDetector: 0 k: 0.04 nfeatures: 1000 qualityLevel: 0.01 minDistance: 15 blockSize: 3 useHarrisDetector: 0 k: 0.04 bytes: 32 use_orientation: 0 bytes: 32 use_orientation: 0 process[dense-6]: started with pid [188] [ INFO] [1529572126.490738690]: Loading nodelet /dense of type dense/denseNodelet to manager nodelet_manager with the following remappings: [ INFO] [1529572126.490883237]: /dense/keyframes -> /sptam/keyframes [ INFO] [1529572126.782521508]: S-PTAM stereo node initialized. [ INFO] [1529572127.322514652]: DENSE node initialized. [ INFO] [1529572130.203967090]: Opening kitti_04.bag

Waiting 0.2 seconds after advertising topics... done.

Hit space to toggle paused, or 's' to step. [ INFO] [1529572130.735223612, 1385799339.661297826]: init calib8.108940 [ INFO] [1529572130.735660508, 1385799339.661297826]: baseline: 0.537151 [ INFO] [1529572130.785293238, 1385799339.661297826]: Trying to intialize map... [ INFO] [1529572130.842278877, 1385799339.661297826]: Map initialized with 137 points. [RUNNING] Bag Time: 1385799367.148107 Duration: 27.586945 / 28.108940 Done. it seems that just play the bag and do nothing.

I have exactly the same problem, the program only plays the bag, but no results were generated. Have you got this problem solved? Thanks,

[taihup]

Did you try to see the point cloud and pose in rviz?

[wutongyu98]

Did you try to see the point cloud and pose in rviz?

I did, but the rviz didn't see any map. Even though I see many map topic being published, such as /dense/dense_cloud, /sptam/local_map. So I doubt there is no results were generated. To verify my guess, I add some debugging in the base_driver.cpp. The bold code were the test code. Unfortunately, it only print "the point is 0" during the whole programming running.

// create map file { std::cout << "saving map cloud..." << std::endl; std::ofstream out("map cloud.dat"); int i = 0; std::cout << "the point is " << i++ << std::endl; for ( const auto& point : sptam_->GetMap().getMapPoints() ) { std::cout << "the point is " << i++ << std::endl; out << point->GetPosition().x() << " " << point->GetPosition().y() << " " << point->GetPosition().z() << std::endl; } out.close(); }

I think, the program might not get the image bag. Maybe my rosbag is not in the right format. Could you send me a copy of your ros bag for sequence 6 you have already succeed during your test? My email is jxh831027@gmail.com. Thanks,

[taihup]

Try download the datasets from kitti_00.bag. It is possible to download the rest of the kitti sequences from KITTI rosbags link. The KITTI dataset links are mentioned in the original S-PTAM repository. Check: https://github.com/lrse/sptam.

[wutongyu98]

Try download the datasets from kitti_00.bag. It is possible to download the rest of the kitti sequences from KITTI rosbags link. The KITTI dataset links are mentioned in the original S-PTAM repository. Check: https://github.com/lrse/sptam.

Thanks taihup. The sptam works with the new rosbag. But the dense point didn't work. I looked into the code and found the "if (!dense_)" was executed in "void dense::denseInterface::cb_keyframes_path(const nav_msgs::PathConstPtr& path)". I guess the denseInterface class was not initialized correctly. Do you have an idea what's the problem? Thanks

[taihup]

What is the error? Just to be sure, Did you create the clouds repository in ~/.ros folder? Did you run the commands roscore, rosparam set use_sim_time true and rosbag play --clock <rosbag>?

[wutongyu98]

What is the error? Just to be sure, Did you create the clouds repository in ~/.ros folder? Did you run the commands roscore, rosparam set use_sim_time true and rosbag play --clock <rosbag>?

Yes, I did. But no difference, still produce no dense point. When I try to load the topic " sub_imgr.subscribe(nhp, "/keyframe/right/image_rect", 1);" in denseInterface.cpp, I found there were no image display. So I change keyframe with kitti_stereo, the code can produce dense map, but it crash after a very short while (around 2s). The good thing is that this change really produce dense map, which can be load from rviz. Summary, sptam can work well, dense map only worked for 2s after I change keyframe to kitti_stereo in the denseInterface.cpp sub_imgl.subscribe(nhp, "/keyframe/left/image_rect", 1); sub_infol.subscribe(nhp, "/keyframe/left/camera_info", 1); sub_imgr.subscribe(nhp, "/keyframe/right/image_rect", 1); sub_infor.subscribe(nhp, "/keyframe/right/camera_info", 1);

[taihup]

Run the rosbag with a lower rate:

rosbag play --clock --rate 0.2 rosbag_kitti

[wutongyu98]

Run the rosbag with a lower rate:

rosbag play --clock --rate 0.2 rosbag_kitti

Just confirmed that this crash is caused by the parameter local_area_size. When I set this size 10, it will run 11 iteration, when I set it 100, it will run 101 iteration. Then crash. I also check the erase operation in void PointCloudQueue::push_local_area(PointCloudEntry::Ptr entry) in PointCloudQueue.cpp, it works well. It looks the some index was not update after begin entry of pointcloud was erased. Any suggestion about this crash? thanks

[taihup]

I do not know about this crash. In my experience, unexpected crashes of S-PTAM and Dense-sptam are related with the vectorization part of Eigen library or with the use of libraries compiled with different versions of Eigen library.

Are you using the docker right or you are installing the system in your own ubuntu?

[wutongyu98]

I do not know about this crash. In my experience, unexpected crashes of S-PTAM and Dense-sptam are related with the vectorization part of Eigen library or with the use of libraries compiled with different versions of Eigen library.

Are you using the docker right or you are installing the system in your own ubuntu?

Just got the dense map. But each object has one of more ghost object, e.g. have two or more PCD for tree, car wheel. It looks the dense PCD was not fused well. Is there some parameter can be adjusted to remove this issue? Thanks,

[taihup]

Yes there are several parameters that you can tune in the yaml configuration files, for instance you can increase the local_area_size =20 parameter to fuse information from the last 20 keyframes.

[LuoMing2]

How did you got the dense map? I also got

this question when I change the "local area size"

Run the rosbag with a lower rate: rosbag play --clock --rate 0.2 rosbag_kitti

Just confirmed that this crash is caused by the parameter local_area_size. When I set this size 10, it will run 11 iteration, when I set it 100, it will run 101 iteration. Then crash. I also check the erase operation in void PointCloudQueue::push_local_area(PointCloudEntry::Ptr entry) in PointCloudQueue.cpp, it works well. It looks the some index was not update after begin entry of pointcloud was erased. Any suggestion about this crash? thanks

[taihup]

@LuoMing2, have you checkted this comment: https://github.com/CIFASIS/dense-sptam/issues/3#issuecomment-399058740?

[LuoMing2]

@LuoMing2, have you checkted this comment: #3 (comment)?

yep, I followed wutongyu98's solution: https://github.com/CIFASIS/dense-sptam/issues/3#issuecomment-438044074. But the program still broken when its came to iteration = 10, as the local_area_size = 10. @wutongyu98

[YznMur]

@taihup @LuoMing2 Hi I am facing the same problem here, did you manage to solve it?

@LuoMing2, have you checkted this comment: #3 (comment)?

yep, I followed wutongyu98's solution: #3 (comment). But the program still broken when its came to iteration = 10, as the local_area_size = 10. @wutongyu98