qintonguav
commented
7 years ago We don't maintain feature_tracker/euroc.launch for a long time, it can't be used at all. Sorry for that, we will remove this launch file in the next version. We develop VINS_mono based on Opencv 2.4. This issue may be caused by Opencv 3.2. From the print information, it can be seen the problem exists in the file interface when loading the file by Opencv. OpenCV Error: Bad argument (Invalid pointer to file storage) in cvGetFileNodeByName It seems to be easy to solve it by yourself.
duyilong
AaboutL
varun3108
Hi, thank you for your valuable open-source code.
By the way, I cannot launch the feature_tracker packge.
I'm trying to run in the Nvidia TX1, ubuntu 16.04, ROS Kinetic.
When I launch >> roslaunch vins_estimator euroc.launch
ubuntu@tegra-ubuntu:~/catkin_ws$ roslaunch vins_estimator euroc.launch ... logging to /home/ubuntu/.ros/log/00587f2e-55c5-11e7-a1fc-00044b57fe0c/roslaunch-tegra-ubuntu-10137.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://tegra-ubuntu:39893/
SUMMARY
PARAMETERS
NODES / feature_tracker (feature_tracker/feature_tracker) vins_estimator (vins_estimator/vins_estimator)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found process[feature_tracker-1]: started with pid [10155] process[vins_estimator-2]: started with pid [10156] OpenCV Error: Bad argument (Invalid pointer to file storage) in cvGetFileNodeByName, file /tmp/binarydeb/ros-kinetic-opencv3-3.2.0/modules/core/src/persistence.cpp, line 863 terminate called after throwing an instance of 'cv::Exception' what(): /tmp/binarydeb/ros-kinetic-opencv3-3.2.0/modules/core/src/persistence.cpp:863: error: (-5) Invalid pointer to file storage in function cvGetFileNodeByName [ INFO] [1497969209.836649578]: init begins
[feature_tracker-1] process has died [pid 10155, exit code -6, cmd /home/ubuntu/catkin_ws/devel/lib/feature_tracker/feature_tracker __name:=feature_tracker __log:=/home/ubuntu/.ros/log/00587f2e-55c5-11e7-a1fc-00044b57fe0c/feature_tracker-1.log].
log file: /home/ubuntu/.ros/log/00587f2e-55c5-11e7-a1fc-00044b57fe0c/feature_tracker-1*.log
[ INFO] [1497969209.853653828]: Loaded config_file: /home/ubuntu/catkin_ws/src/VINS-Mono/feature_tracker/../config/euroc/euroc_config.yaml [ INFO] [1497969209.855908798]: Loaded vins_folder: /home/ubuntu/catkin_ws/src/VINS-Mono/feature_tracker/../config/../ [ WARN] [1497969209.856349729]: Optimize extrinsic param around initial guess! [ INFO] [1497969209.857591900]: Extrinsic_R : 2.22045e-16 -1 0 1 2.22045e-16 0 0 0 1 [ INFO] [1497969209.857880906]: Extrinsic_T : -0.02 -0.06 0.01 [ WARN] [1497969209.858156528]: waiting for image and imu... [ WARN] [1497969209.917905097]: DATA SUBSCRIBED [ WARN] [1497969209.918072907]: LOOP_CLOSURE true voc file: /home/ubuntu/catkin_ws/src/VINS-Mono/feature_tracker/../config/..//support_files/brief_k10L6.bin OpenCV Error: Bad argument (Invalid pointer to file storage) in cvGetFileNodeByName, file /tmp/binarydeb/ros-kinetic-opencv3-3.2.0/modules/core/src/persistence.cpp, line 863 terminate called after throwing an instance of 'cv::Exception' what(): /tmp/binarydeb/ros-kinetic-opencv3-3.2.0/modules/core/src/persistence.cpp:863: error: (-5) Invalid pointer to file storage in function cvGetFileNodeByName *[vins_estimator-2] process has died [pid 10156, exit code -6, cmd /home/ubuntu/catkin_ws/devel/lib/vins_estimator/vins_estimator __name:=vins_estimator __log:=/home/ubuntu/.ros/log/00587f2e-55c5-11e7-a1fc-00044b57fe0c/vins_estimator-2.log]. log file: /home/ubuntu/.ros/log/00587f2e-55c5-11e7-a1fc-00044b57fe0c/vins_estimator-2.log all processes on machine have died, roslaunch will exit** shutting down processing monitor... ... shutting down processing monitor complete
done
Therefore I try to launch feature_tracker directly to see the error part, it shows
ubuntu@tegra-ubuntu:~/catkin_ws$ roslaunch feature_tracker euroc.launch ... logging to /home/ubuntu/.ros/log/00587f2e-55c5-11e7-a1fc-00044b57fe0c/roslaunch-tegra-ubuntu-9993.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://tegra-ubuntu:45356/
SUMMARY
PARAMETERS
NODES / feature_tracker (feature_tracker/feature_tracker) player (rosbag/play)
auto-starting new master process[master]: started with pid [10004] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 00587f2e-55c5-11e7-a1fc-00044b57fe0c process[rosout-1]: started with pid [10017] started core service [/rosout] process[player-2]: started with pid [10024] process[feature_tracker-3]: started with pid [10033] [ERROR] [1497969027.609730521]: Failed to load config_file OpenCV Error: Null pointer (NULL or empty buffer) in cvOpenFileStorage, file /tmp/binarydeb/ros-kinetic-opencv3-3.2.0/modules/core/src/persistence.cpp, line 4153 terminate called after throwing an instance of 'cv::Exception' what(): /tmp/binarydeb/ros-kinetic-opencv3-3.2.0/modules/core/src/persistence.cpp:4153: error: (-27) NULL or empty buffer in function cvOpenFileStorage
[feature_tracker-3] process has died [pid 10033, exit code -6, cmd /home/ubuntu/catkin_ws/devel/lib/feature_tracker/feature_tracker ~imu:=/imu0 ~raw_image:=/cam0/image_raw __name:=feature_tracker __log:=/home/ubuntu/.ros/log/00587f2e-55c5-11e7-a1fc-00044b57fe0c/feature_tracker-3.log]. log file: /home/ubuntu/.ros/log/00587f2e-55c5-11e7-a1fc-00044b57fe0c/feature_tracker-3.log [player-2] process has finished cleanly log file: /home/ubuntu/.ros/log/00587f2e-55c5-11e7-a1fc-00044b57fe0c/player-2.log
Actually I still not understood the meaning of below two list, in the feature_tracker/launch/euroc.launch param name="calib_dir" type="string" value="$(find feature_tracker)/config/" /> param name="cam_name0" type="string" value="euroc0_camera_calib_mei.yaml" />
Thanks.