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MIT-SPARK / Kimera-VIO

Visual Inertial Odometry with SLAM capabilities and 3D Mesh generation.
BSD 2-Clause "Simplified" License
1.57k stars 418 forks source link

run erro #20

Closed sunmiaobo closed 4 years ago

sunmiaobo commented 4 years ago

Description: All the processes are successful according to your introduction, but they can't be operated. The data is also provided by you

Command:

./scripts/stereoVIOEuroc.bash

Console output:


Using dataset at path: /home/sun/MH_01_easy
 Launching:

            ██╗  ██╗██╗███╗   ███╗███████╗██████╗  █████╗
            ██║ ██╔╝██║████╗ ████║██╔════╝██╔══██╗██╔══██╗
            █████╔╝ ██║██╔████╔██║█████╗  ██████╔╝███████║
            ██╔═██╗ ██║██║╚██╔╝██║██╔══╝  ██╔══██╗██╔══██║
            ██║  ██╗██║██║ ╚═╝ ██║███████╗██║  ██║██║  ██║
            ╚═╝  ╚═╝╚═╝╚═╝     ╚═╝╚══════╝╚═╝  ╚═╝╚═╝  ╚═╝

Running dataset between frame 50 and frame 2000
reading camera: cam0
reading camera: cam1
nominal frame rate: 0.05
frame rate std: 0.0500068
frame rate maxMismatch: 0.0500001
Maximum measured rotation rate (norm):4.06396-Maximum measured acceleration (norm): 67.4671
Maximum ground truth velocity: 2.00535
Dataset name: MH_01_easy
-------------------------------------------------------------
------------------ ETHDatasetParser::print ------------------
-------------------------------------------------------------
Displaying info for dataset: /home/sun/MH_01_easy
camL_Pose_calR 
R:
[
        0.999997  -0.00231714 -0.000343393;
          0.00231207     0.999898   -0.0140907;
         0.000376008    0.0140898     0.999901
  ]

Left camera name: cam0, with params:
------------ CameraParams::print -------------
intrinsics_: 458.654000 , 457.296000 , 367.215000 , 248.375000 , 
body_Pose_cam_: 

|0.0148655, -0.999881, 0.0041403|
|0.999557, 0.0149672, 0.0257155|
|-0.0257744, 0.00375619, 0.999661|

[-0.0216401, -0.064677, 0.00981073]';

[0.110074, -0.000156612, 0.000889383]';
 gtsam calibration:
.K[
    458.654       0 367.215;
              0 457.296 248.375;
              0       0       1
  ]

 gtsam calibration:
.k[-0.28340811; 0.07395907; 0.00019359; 1.76187114e-05];
frame_rate_: 0.05
image_size_: width= 752 height= 480
camera_matrix_: 
[458.654, 0, 367.215;
 0, 457.296, 248.375;
 0, 0, 1]
distortion_model_: radial-tangential
distortion_coeff_: 
[-0.28340811, 0.07395907, 0.00019359, 1.76187114e-05]
R_rectify_: 
[]
undistRect_map_y_ too large to display (only created in StereoFrame)
P_: 
[]
------------ CameraImageLists::print -------------
image_folder_path: /home/sun/MH_01_easy/mav0/cam0
img_lists size: 3682

Right camera name: cam1, with params:
------------ CameraParams::print -------------
intrinsics_: 457.587000 , 456.134000 , 379.999000 , 255.238000 , 
body_Pose_cam_: 

|0.0125553, -0.999755, 0.0182238|
|0.999599, 0.0130119, 0.0251588|
|-0.0253898, 0.0179006, 0.999517|

[-0.0198436, 0.0453689, 0.00786212]';

 gtsam calibration:
.K[
    457.587       0 379.999;
              0 456.134 255.238;
              0       0       1
  ]

 gtsam calibration:
.k[-0.28368365; 0.07451284; -0.00010473; -3.555907e-05];
frame_rate_: 0.05
image_size_: width= 752 height= 480
camera_matrix_: 
[457.587, 0, 379.999;
 0, 456.134, 255.238;
 0, 0, 1]
distortion_model_: radial-tangential
distortion_coeff_: 
[-0.28368365, 0.07451284, -0.00010473, -3.555907e-05]
R_rectify_: 
[]
undistRect_map_y_ too large to display (only created in StereoFrame)
P_: 
[]
------------ CameraImageLists::print -------------
image_folder_path: /home/sun/MH_01_easy/mav0/cam1
img_lists size: 3682
------------ GroundTruthData::print -------------
body_Pose_cam_: 
R:
[
    1 0 0;
        0 1 0;
        0 0 1
  ]

 gt_rate: 0.005
nr of gtStates: 36382
------------ ImuData::print -------------

nominal_imu_rate: 0.005
imu_rate: 0.005
imu_rate_std: 0.00500007
imu_rate_maxMismatch: 0.00500019
nr of imu measurements: 36820
-------------------------------------------------------------
-------------------------------------------------------------
-------------------------------------------------------------
Applying IMU timestamp shift of: 1.99913e+161ns.
&&&&&&&&&&&&&&&&&&&& TRACKER PARAMETERS &&&&&&&&&&&&&&&&&&&&&&&&&&&
** Feature tracking parameters **
klt_win_size_: 24
klt_max_iter_: 30
klt_max_level_: 4
klt_eps_: 0.1
maxFeatureAge_: 15
** Feature detection parameters **
maxFeaturesPerFrame_: 800
quality_level_: 0.001
min_distance_: 20
block_size_: 3
use_harris_detector_: 0
k_: 0.04
** Sparse Stereo Matching parameters **
equalize_image_: 0
nominalBaseline_: 0.11
vision_sensor_type_: 0
toleranceTemplateMatching_: 0.15
templ_cols_: 101
templ_rows_: 11
stripe_extra_rows_: 0
minPointDist_: 0.5
maxPointDist_: 10
bidirectionalMatching_: 0
subpixelRefinementStereo_: 0
** Feature selection parameters **
featureSelectionCriterion_: 0
featureSelectionHorizon_: 3
featureSelectionNrCornersToSelect_: 600
featureSelectionImuRate_: 0.005
featureSelectionDefaultDepth_: 2
featureSelectionCosineNeighborhood_: 0.984808
featureSelectionUseLazyEvaluation_: 1
useSuccessProbabilities_: 1
** RANSAC parameters **
useRANSAC_: 1
minNrMonoInliers_: 10
minNrStereoInliers_: 5
ransac_threshold_mono_: 1e-06
ransac_threshold_stereo_: 1
ransac_use_1point_stereo_: 1
ransac_use_2point_mono_: 1
ransac_max_iterations_: 100
ransac_probability_: 0.995
ransac_randomize_: 0
** STEREO tracker parameters **
intra_keyframe_time_: 0.2
minNumberFeatures_: 0
useStereoTracking_: 1
** OTHER parameters **
disparityThreshold_: 0.5
&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&&
Frontend running in sequential mode (parallel_run set to 0).
------------------- Initialize Pipeline with frame k = 50--------------------
ExtractCorners: no corner found in image.
 Using Normal VIO. 
[0, 0, 0]';isam_param
type:              ISAM2GaussNewtonParams
wildfireThreshold: -1
relinearizeThreshold:              0.01
relinearizeSkip:                   1
enableRelinearization:             1
evaluateNonlinearError:            0
factorization:                     CHOLESKY
cacheLinearizedFactors:            1
enableDetailedResults:             0
enablePartialRelinearizationCheck: 0
findUnusedFactorSlots:             1
Initial state seed: 
 - Initial pose: 
|-0.396892, 0.356007, -0.846014|
|0.173771, 0.934192, 0.311592|
|0.901268, -0.0233444, -0.432637|

[4.71169, -1.78947, 0.685225]';

 - Initial vel: -0.023791 -0.016973 00.091484
 - Initial IMU bias: acc = [-0.025266, 0.1367, 0.075598]' gyro = [-0.003172, 0.021267, 0.078502]'
Before launching threads.
Backend, mesher and visualizer running in sequential mode (parallel_run set to 0).
 launching threads.
Spinning StereoFrontEnd.
------------------- Processing frame k = 51--------------------
Current IMU Preintegration frequency: 256410 Hz. (39 us).
[sm::SampleConsensusModel::getSamples] Can not select 2 unique points out of 0!
[sm::RandomSampleConsensus::computeModel] No samples could be selected!
ExtractCorners: no corner found in image.
Keyframe 51 with: 0 smart measurements
Current Stereo FrontEnd (keyframe) frequency: 500 Hz. (2 ms).
Spinning VioBackEnd.
VIO: adding keyframe 1 at timestamp:1.40364e+09 (nsec).
Backend: Update IMU Bias.
Current Backend frequency: inf Hz. (0 ms).
Spinning Mesher.
Filter triangles with gradients is disabled.
Current Mesher frequency: inf Hz. (0 ms).
Spinning Visualizer.
terminate called after throwing an instance of 'cv::Exception'
  what():  OpenCV(3.4.6) /home/sun/lib/opencv-3.4.6/modules/imgproc/src/color.cpp:182: error: (-215:Assertion failed) !_src.empty() in function 'cvtColor'

./scripts/stereoVIOEuroc.bash: 行 120:  7834 已放弃               (核心已转储) ../build/stereoVIOEuroc --flagfile="../params/flags/stereoVIOEuroc.flags" --flagfile="../params/flags/Mesher.flags" --flagfile="../params/flags/VioBackEnd.flags" --flagfile="../params/flags/RegularVioBackEnd.flags" --flagfile="../params/flags/Visualizer3D.flags" --flagfile="../params/flags/EthParser.flags" --logtostderr=1 --colorlogtostderr=1 --log_prefix=0 --dataset_path="$DATASET_PATH" --vio_params_path="$VIO_PARAMS_PATH" --initial_k=50 --final_k=2000 --tracker_params_path="$TRACKER_PARAMS_PATH" --lcd_params_path="$LCD_PARAMS_PATH" --vocabulary_path="../vocabulary/ORBvoc.yml" --use_lcd="$USE_LCD" --v=0 --vmodule=VioBackEnd=0,RegularVioBackEnd=0,Mesher=0,StereoVisionFrontEnd=0 --backend_type="$BACKEND_TYPE" --parallel_run="$PARALLEL_RUN" --dataset_type="$DATASET_TYPE" --log_output="$LOG_OUTPUT" --output_path="../output_logs/"

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sunmiaobo commented 4 years ago

please close this issue,i find error ,data is error.