ToniRV
commented
4 years ago It seems like setting use_lcd=True skips the registration of the IMU callback.
@marcusabate any idea?
Open m-pilia opened 4 years ago
ToniRV
commented
4 years ago It seems like setting use_lcd=True skips the registration of the IMU callback.
@marcusabate any idea?
WouterJansen
commented
4 years ago Hi, @marcusabate @ToniRV , I know this is an older issue but currently experiencing this one due to me using older versions of Kimera VIO/ROS due to the issues persistent here: https://github.com/MIT-SPARK/Kimera-VIO-ROS/issues/78 I'm guessing this issue was solved with the heavy rewrites of some of the components but was this issue discovered? Can I solve it somehow on my end on this older version,
morsingher
commented
3 years ago Hi @ToniRV @marcusabate @m-pilia, did any of you solved this issue? A very similar things happens when running the default example as:
roslaunch kimera_vio_ros kimera_vio_ros_euroc.launch rosbag_path:="/home/c-morsingher/Downloads/V1_01_easy.bag" use_lcd:=true
It works fine for a while, but then it crashes with the following error:
[kimera_vio_ros/kimera_vio_ros_node-2] process has died [pid 1285605, exit code -9, cmd /home/c-morsingher/catkin_ws/devel/lib/kimera_vio_ros/kimera_vio_ros_node --use_lcd=true --vocabulary_path=/home/c-morsingher/catkin_ws/src/Kimera-VIO/vocabulary/ORBvoc.yml --flagfile=/home/c-morsingher/catkin_ws/src/Kimera-VIO/params/Euroc/flags/Mesher.flags --flagfile=/home/c-morsingher/catkin_ws/src/Kimera-VIO/params/Euroc/flags/VioBackend.flags --flagfile=/home/c-morsingher/catkin_ws/src/Kimera-VIO/params/Euroc/flags/RegularVioBackend.flags --flagfile=/home/c-morsingher/catkin_ws/src/Kimera-VIO/params/Euroc/flags/Visualizer3D.flags --logtostderr=1 --colorlogtostderr=1 --log_prefix=1 --v=0 --log_output=false --log_euroc_gt_data=false --output_path=/home/c-morsingher/catkin_ws/src/Kimera-VIO-ROS/output_logs/ --viz_type=0 --visualize=true reinit_flag:=reinit_flag reinit_pose:=reinit_pose odometry:=odometry resiliency:=resiliency imu_bias:=imu_bias optimized_trajectory:=optimized_trajectory pose_graph:=pose_graph mesh:=mesh frontend_stats:=frontend_stats debug_mesh_img/image_raw:=debug_mesh_img/image_raw feature_tracks/image_raw:=feature_tracks/image_raw time_horizon_pointcloud:=time_horizon_pointcloud __name:=kimera_vio_ros_node __log:=/home/c-morsingher/.ros/log/738a43aa-d4d4-11eb-9477-fdf8646b1d04/kimera_vio_ros-kimera_vio_ros_node-2.log]. log file: /home/c-morsingher/.ros/log/738a43aa-d4d4-11eb-9477-fdf8646b1d04/kimera_vio_ros-kimera_vio_ros_node-2*.log
If I run the same command without the use_lcd:=true flag, everything works just fine. Any ideas?
brytsknguyen
commented
1 year ago Hi,
I also encounter this problem and it appears to be something wrong with the opengv or eigen. Has anybody found the solution?
Description: When running Kimera-VIO-ROS in real-time using a Mynt Eye S camera as data source, the Kimera node crashes at startup if the loop closure detector is enabled. If the LCD is disabled, the crash does not happen.
Command:
Console output:
Full output (click to expand)
``` $ roslaunch kimera_vio_ros kimera_ros_mymynt.launch use_lcd:=true WARNING: Package name "KimeraRPGO" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes. ... logging to /home/martino/.ros/log/f6f3aedc-3919-11ea-8226-a4c3f096aa6e/roslaunch-martino-ThinkPad-T480-11743.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. WARNING: Package name "KimeraRPGO" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes. started roslaunch server http://martino-ThinkPad-T480:37317/ SUMMARY ======== PARAMETERS * /kimera_vio_ros/kimera_vio_ros/base_link_frame_id: base_link * /kimera_vio_ros/kimera_vio_ros/left_cam_frame_id: left_cam * /kimera_vio_ros/kimera_vio_ros/map_frame_id: map * /kimera_vio_ros/kimera_vio_ros/mono_ransac_threshold: 30 * /kimera_vio_ros/kimera_vio_ros/online_run: True * /kimera_vio_ros/kimera_vio_ros/position_det_threshold: 0.3 * /kimera_vio_ros/kimera_vio_ros/right_cam_frame_id: right_cam * /kimera_vio_ros/kimera_vio_ros/stereo_ransac_threshold: 20 * /kimera_vio_ros/kimera_vio_ros/use_lcd: True * /kimera_vio_ros/kimera_vio_ros/velocity_det_threshold: 0.1 * /kimera_vio_ros/kimera_vio_ros/world_frame_id: world * /kimera_vio_ros/posegraph_viewer/frame_id: world * /rosdistro: kinetic * /rosversion: 1.12.14 * /use_sim_time: True NODES /kimera_vio_ros/ kimera_vio_ros (kimera_vio_ros/kimera_vio_ros) posegraph_viewer (pose_graph_tools/visualizer_node) ROS_MASTER_URI=http://localhost:11311 WARNING: Package name "KimeraRPGO" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes. process[kimera_vio_ros/kimera_vio_ros-1]: started with pid [11760] process[kimera_vio_ros/posegraph_viewer-2]: started with pid [11761] [ INFO] [1579263518.118055797]: Initializing pose graph visualizer [ERROR] [1579263518.118760149]: Did not load frame id I0117 14:18:38.180212 11760 CameraParams.cpp:31] Parsing camera parameters for: left_cam I0117 14:18:38.180420 11760 CameraParams.cpp:31] Parsing camera parameters for: right_cam I0117 14:18:38.180681 11760 DataProviderInterface.cpp:96] Running dataset between frame 50 and frame 10000 [ INFO] [1579263518.181391194]: >>>>>>> Initializing Kimera-VIO-ROS <<<<<<< I0117 14:18:38.181444 11760 RosDataProvider.cpp:879] ================================================================================ - Left camera info: I0117 14:18:38.181465 11760 CameraParams.cpp:175] ------------ Camera ID: left_cam ------------- intrinsics_: 365.791000 , 365.396000 , 395.442000 , 251.729000 , I0117 14:18:38.181473 11760 CameraParams.cpp:178] body_Pose_cam_: |0.000849008, -0.999944, -0.0105228| |0.999938, 0.000731755, 0.0111416| |-0.0111333, -0.0105316, 0.999883| [0.00180156, -0.0425878, 0.0265878]'; gtsam calibration: .K[ 365.791 0 395.442; 0 365.396 251.729; 0 0 1 ] gtsam calibration: .k[-0.022520039; -0.008515824; 0.011157318; -0.006467303]; I0117 14:18:38.181605 11760 CameraParams.cpp:183] frame_rate_: 0.05 image_size_: width= 752 height= 480 camera_matrix_: [365.791, 0, 395.442; 0, 365.396, 251.729; 0, 0, 1] distortion_model_: equidistant distortion_coeff_: [-0.022520039, -0.008515824, 0.011157318, -0.006467303] R_rectify_: [] undistRect_map_y_ too large to display (only created in StereoFrame) P_: [] I0117 14:18:38.181645 11760 RosDataProvider.cpp:881] ================================================================================ - Right camera info: I0117 14:18:38.181658 11760 CameraParams.cpp:175] ------------ Camera ID: right_cam ------------- intrinsics_: 366.845000 , 366.261000 , 390.195000 , 256.602000 , I0117 14:18:38.181664 11760 CameraParams.cpp:178] body_Pose_cam_: |-0.00102832, -0.999971, -0.00756387| |0.999947, -0.00110545, 0.0102007| |-0.0102088, -0.00755298, 0.999919| [0.0021576, 0.0765324, 0.0256731]'; gtsam calibration: .K[ 366.845 0 390.195; 0 366.261 256.602; 0 0 1 ] gtsam calibration: .k[-0.018005025; -0.013159767; 0.014297214; -0.007286674]; I0117 14:18:38.181732 11760 CameraParams.cpp:183] frame_rate_: 0.05 image_size_: width= 752 height= 480 camera_matrix_: [366.845, 0, 390.195; 0, 366.261, 256.602; 0, 0, 1] distortion_model_: equidistant distortion_coeff_: [-0.018005025, -0.013159767, 0.014297214, -0.007286674] R_rectify_: [] undistRect_map_y_ too large to display (only created in StereoFrame) P_: [] I0117 14:18:38.181762 11760 RosDataProvider.cpp:883] ================================================================================ - IMU info: I0117 14:18:38.181772 11760 ImuFrontEndParams.cpp:89] ------------ ImuParams::print ------------- gyroscope_noise_density: 0.0125 gyroscope_random_walk: 2.3e-05 accelerometer_noise_density: 0.0169 accelerometer_random_walk: 0.0005 imu_integration_sigma: 1e-08 imu_time_shift: 0 n_gravity: 00000 00000 -9.81 I0117 14:18:38.181795 11760 RosDataProvider.cpp:885] ================================================================================ - IMU params: I0117 14:18:38.181802 11760 ImuFrontEndParams.cpp:89] ------------ ImuParams::print ------------- gyroscope_noise_density: 0.0125 gyroscope_random_walk: 2.3e-05 accelerometer_noise_density: 0.0169 accelerometer_random_walk: 0.0005 imu_integration_sigma: 1e-08 imu_time_shift: 0 n_gravity: 00000 00000 -9.81 I0117 14:18:38.181819 11760 RosDataProvider.cpp:887] ================================================================================ - Backend params I0117 14:18:38.181828 11760 VioBackEndParams.cpp:154] $$$$$$$$$$$$$$$$$$$$$ VIO PARAMETERS $$$$$$$$$$$$$$$$$$$$$ ** INITIALIZATION parameters ** autoInitialize_: 1 initial_ground_truth_state_: I0117 14:18:38.181839 11760 DataProviderInterface-definitions.cpp:35] --- --- pose: R: [ 1 0 0; 0 1 0; 0 0 1 ] I0117 14:18:38.181881 11760 DataProviderInterface-definitions.cpp:37] velocity: 0 0 0 [0, 0, 0]'; imuBias: acc = [0, 0, 0]' gyro = [0, 0, 0]' I0117 14:18:38.181913 11760 VioBackEndParams.cpp:159] roundOnAutoInitialize_: 0 initialPositionSigma: 1e-05 initialRollPitchSigma: 0.174533 initialYawSigma: 0.00174533 initialVelocitySigma: 0.001 initialAccBiasSigma: 0.1 initialGyroBiasSigma: 0.01 ** VISION parameters ** linearizationMode_: 0 HESSIAN, IMPLICIT_SCHUR, JACOBIAN_Q, JACOBIAN_SVD degeneracyMode_: 1 IGNORE_DEGENERACY, ZERO_ON_DEGENERACY, HANDLE_INFINITY rankTolerance_: 1 landmarkDistanceThreshold_: 15 outlierRejection_: 8 retriangulationThreshold_: 0.001 addBetweenStereoFactors_: 1 betweenRotationPrecision_: 0 betweenTranslationPrecision_: 100 ** OPTIMIZATION parameters ** relinearizeThreshold_: 0.01 relinearizeSkip_: 1 zeroVelocitySigma_: 0.001 noMotionPositionSigma_: 0.001 noMotionRotationSigma_: 0.0001 constantVelSigma_: 0.01 numOptimize_: 1 horizon_: 5 useDogLeg_: 0 I0117 14:18:38.181957 11760 RosDataProvider.cpp:889] ================================================================================ I0117 14:18:38.181964 11760 LoopClosureDetectorParams.cpp:113] $$$$$$$$$$$$$$$$$$$$$ LCD PARAMETERS $$$$$$$$$$$$$$$$$$$$$ image_width_: 752 image_height_: 480 focal_length_: 1 principle_point_: [0, 0] use_nss_: 1 alpha_: 0.001 min_temporal_matches_: 1 dist_local_: 1 max_db_results_: 50 max_db_results_: 50 min_nss_factor_: 0.05 min_matches_per_group_: 1 max_intragroup_gap_: 3 max_distance_between_groups_: 3 max_distance_between_queries_: 2 geom_check_: 0 min_correspondences_: 12 max_ransac_iterations_mono_: 500 ransac_probability_mono_: 0.995 ransac_threshold_mono_: 1e-05 ransac_randomize_mono_: 1 ransac_inlier_threshold_mono_: 0.01 pose_recovery_option_: 0 max_ransac_iterations_stereo_: 500 ransac_probability_stereo_: 0.995 ransac_threshold_stereo_: 0.3 ransac_randomize_stereo_: 1 ransac_inlier_threshold_stereo_: 0.3 use_mono_rot_:0 lowe_ratio_: 0.2 matcher_type_:3 nfeatures_: 1000 scale_factor_: 1.2 nlevels_: 8 edge_threshold_: 31 first_level_: 0 WTA_K_: 2 score_type_: 0 patch_sze_: 31 fast_threshold_: 20 pgo_rot_threshold_: 0.005 pgo_trans_threshold_: 0.05 I0117 14:18:38.182006 11760 RosDataProvider.cpp:891] ================================================================================ [ INFO] [1579263518.245934011]: Starting KimeraVIO wrapper for online [ INFO] [1579263518.261440349]: >>>>>>> Started data subscribers <<<<<<<< I0117 14:18:38.291894 11760 RegularVioBackEnd.cpp:113] Using Regular VIO backend. I0117 14:18:38.292043 11760 LoopClosureDetector.cpp:98] LoopClosureDetector:: Loading vocabulary from /home/martino/catkin_ws/src/Kimera-VIO/vocabulary/ORBvoc.yml F0117 14:18:38.414885 11881 RosOnlineDataProvider.cpp:156] Check failed: imu_single_callback_ Did you forget to register the IMU callback? *** Check failure stack trace: *** @ 0x7f5d24e4643d google::LogMessage::Fail() @ 0x7f5d24e48253 google::LogMessage::SendToLog() @ 0x7f5d24e45fcb google::LogMessage::Flush() @ 0x7f5d24e48c3e google::LogMessageFatal::~LogMessageFatal() @ 0x47d06f VIO::RosOnlineDataProvider::callbackIMU() @ 0x48553b boost::detail::function::void_function_obj_invoker1<>::invoke() @ 0x49e2ee ros::SubscriptionCallbackHelperT<>::call() @ 0x7f5d242b0d8d ros::SubscriptionQueue::call() @ 0x7f5d24256838 ros::CallbackQueue::callOneCB() @ 0x7f5d24257074 ros::CallbackQueue::callOne() @ 0x7f5d242b4265 ros::AsyncSpinnerImpl::threadFunc() @ 0x7f5d1bb295d5 (unknown) @ 0x7f5d234e86ba start_thread @ 0x7f5d218a141d clone [kimera_vio_ros/kimera_vio_ros-1] process has died [pid 11760, exit code -6, cmd /home/martino/catkin_ws/devel/lib/kimera_vio_ros/kimera_vio_ros --left_cam_params_path=/home/martino/catkin_ws/src/Kimera-VIO-ROS/param/MyMynt/LeftCameraParams.yaml --right_cam_params_path=/home/martino/catkin_ws/src/Kimera-VIO-ROS/param/MyMynt/RightCameraParams.yaml --imu_params_path=/home/martino/catkin_ws/src/Kimera-VIO-ROS/param/MyMynt/ImuParams.yaml --backend_params_path=/home/martino/catkin_ws/src/Kimera-VIO-ROS/param/MyMynt/regularVioParameters.yaml --frontend_params_path=/home/martino/catkin_ws/src/Kimera-VIO-ROS/param/MyMynt/trackerParameters.yaml --use_lcd=true --lcd_params_path=/home/martino/catkin_ws/src/Kimera-VIO-ROS/param/MyMynt/LCDParameters.yaml --vocabulary_path=/home/martino/catkin_ws/src/Kimera-VIO/vocabulary/ORBvoc.yml --flagfile=/home/martino/catkin_ws/src/Kimera-VIO-ROS/param/MyMynt/flags/Mesher.flags --flagfile=/home/martino/catkin_ws/src/Kimera-VIO-ROS/param/MyMynt/flags/VioBackEnd.flags --flagfile=/home/martino/catkin_ws/src/Kimera-VIO-ROS/param/MyMynt/flags/RegularVioBackEnd.flags --flagfile=/home/martino/catkin_ws/src/Kimera-VIO-ROS/param/MyMynt/flags/Visualizer3D.flags --logtostderr=1 --colorlogtostderr=1 --log_prefix=1 --v=0 --backend_type=1 --log_output=false --output_path=/home/martino/catkin_ws/src/Kimera-VIO-ROS/output_logs/ --visualize=false --parallel_run=True left_cam:=/mynteye/left/image_raw right_cam:=/mynteye/right/image_raw imu:=/mynteye/imu/data_raw reinit_flag:=reinit_flag reinit_pose:=reinit_pose odometry:=odometry resiliency:=resiliency imu_bias:=imu_bias optimized_trajectory:=optimized_trajectory pose_graph:=pose_graph mesh:=mesh frontend_stats:=frontend_stats debug_mesh_img:=debug_mesh_img time_horizon_pointcloud:=time_horizon_pointcloud __name:=kimera_vio_ros __log:=/home/martino/.ros/log/f6f3aedc-3919-11ea-8226-a4c3f096aa6e/kimera_vio_ros-kimera_vio_ros-1.log]. log file: /home/martino/.ros/log/f6f3aedc-3919-11ea-8226-a4c3f096aa6e/kimera_vio_ros-kimera_vio_ros-1*.log ```Additional files: Please attach all the files needed to reproduce the error.
Please give also the following information:
opencv_version: 3.4.2