Received error when running viwo node: waiting for image and imu

[srividyaprasad]

rosrun vins viwo_node ~/catkin_ws/src/VIW-Fusion/config/realsense_d435i/realsense_stereo_imu_config_ridgeback.yaml

[ INFO] [1718476092.540817844]: init begins
config_file: /home/--/catkin_ws/src/VIW-Fusion/config/realsense_d435i/realsense_stereo_imu_config_ridgeback.yaml
USE_IMU: 1
USE_WHEEL: 1
INITIAL_WITH_WHEEL: 0
USE_PLANE: 1
IMU_TOPIC: /imu/data
WHEEL_TOPIC: /ridgeback_velocity_controller/odom
[ WARN] [1718476092.550117983]:  fix extrinsic param 
[ WARN] [1718476092.551074947]:  fix intrinsic param 
result path /home/td/slam/vins_fusion_ws/src/VINS-Fusion/output/vio.csv
groundtruth path /home/td/slam/vins_fusion_ws/src/VINS-Fusion/output/groundtruth.csv
[ WARN] [1718476092.553274982]:  Optimize extrinsic param around initial guess!
[ INFO] [1718476092.553308599]: adjust without Z of translation of cam extrinsic
camera number 2
[ INFO] [1718476092.553369819]: Synchronized sensors, fix time offset: 0
[ INFO] [1718476092.553391228]: Synchronized sensors, fix time offset: 0
[ INFO] [1718476092.553407430]: ROW: 480 COL: 640 
 exitrinsic cam 0
 0  0  1
-1  0  0
 0 -1  0
0.041 0.307 0.544
 exitrinsic cam 1
 0  0  1
-1  0  0
 0 -1  0
0.041 0.258 0.544
 exitrinsic wheel 
1 0 0
0 1 0
0 0 1
-0.208   0.29 -0.168
 initrinsic wheel 
1 1 1
set g     0     0 9.805
[ INFO] [1718476092.553648374]: reading paramerter of camera /home/--/catkin_ws/src/VIW-Fusion/config/realsense_d435i/infra1.yaml
[ INFO] [1718476092.553833212]: reading paramerter of camera /home/--/catkin_ws/src/VIW-Fusion/config/realsense_d435i/infra2.yaml
MULTIPLE_THREAD is 1
[ WARN] [1718476092.554010077]: waiting for image and imu...

[srividyaprasad]

vins_estimator node in rqt_graph is not subscribed to any topics during the above. and rosbag play node is publishing to /tf and /rosout only

[TouchDeeper]

@srividyaprasad Sorry for my late reply.

I guess you haven't played the bag file. You can refer to this example, and you should run rosbag play YOUR_DATASET_FOLDER/ridgeback_dark.bag

[srividyaprasad]

Hello, I did run it.

Thanks for your response, request you to help me debug this issue as it is important for benchmarking for my research.

Actually I am able to even visualise the raw image frames from rosbag in rviz.

I think there is a cv2 error that comes up and it doesn't get sent to estimator node. Estimator node terminates before it gets images for processing.

On Mon, Jun 24, 2024, 8:36 AM 庄庭达 @.***> wrote:

@srividyaprasad https://github.com/srividyaprasad Sorry for my late reply.

I guess you haven't played the bag file. You can refer to this example https://github.com/TouchDeeper/VIW-Fusion?tab=readme-ov-file#3-example, and you should run rosbag play YOUR_DATASET_FOLDER/ridgeback_dark.bag

— Reply to this email directly, view it on GitHub https://github.com/TouchDeeper/VIW-Fusion/issues/26#issuecomment-2185500790, or unsubscribe https://github.com/notifications/unsubscribe-auth/AU6LWDYA52UL3PWBMRLKBF3ZI6ENFAVCNFSM6AAAAABJL4SAX6VHI2DSMVQWIX3LMV43OSLTON2WKQ3PNVWWK3TUHMZDCOBVGUYDANZZGA . You are receiving this because you were mentioned.Message ID: @.***>

[TouchDeeper]

@srividyaprasad you can check the image topic after rosbag play using ros topic tool.

if topic is published successfully, You can add some logs to track the processing of image messages to see where the problem occurred.