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ethz-asl / aerial_mapper

Real-time Dense Point Cloud, Digital Surface Map (DSM) and (Ortho-)Mosaic Generation for UAVs
BSD 3-Clause "New" or "Revised" License
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Error launching demos #20

Closed RicardoRagel closed 6 years ago

RicardoRagel commented 6 years ago

Hi!

After download "How to run" datasets and launch the example:

$ roslaunch aerial_mapper_demos 0-synthetic-cadastre-dsm.launch

I receive the next errors:

<...>

I0119 14:33:48.566270 9198 aerial-mapper-io.cc:255] Loading camera calibration from: /home/deltanet/datasets/cadastre_gray/camera_fixed_wing.yaml W0119 14:33:48.566978 9198 ncamera-yaml-serialization.cc:30] Unable to get the id for the ncamera. Generating new random id. W0119 14:33:48.567148 9198 camera-yaml-serialization.cc:131] Unable to get the id for the camera. Generating new random id. I0119 14:33:48.567246 9198 aerial-mapper-io.cc:40] Loading body poses via format: 0 I0119 14:33:48.567255 9198 aerial-mapper-io.cc:107] Loading body poses from: /home/deltanet/datasets/cadastre_gray/opt_poses.txt I0119 14:33:48.568365 9198 aerial-mapper-io.cc:120] T_G_Bs->size() = 428 I0119 14:33:48.568382 9198 aerial-mapper-io.cc:211] Loading images from directory+prefix: /home/deltanet/datasets/cadastregray/image Aborted at 1516368828 (unix time) try "date -d @1516368828" if you are using GNU date PC: @ 0x7f44409ecd20 cv::_InputArray::size() SIGSEGV (@0x1010028) received by PID 9198 (TID 0x7f444195ba40) from PID 16842792; stack trace: @ 0x7f443f44ccb0 (unknown) @ 0x7f44409ecd20 cv::_InputArray::size() @ 0x7f443c8fb61e cv::imshow() @ 0x7f4440f8f824 io::AerialMapperIO::loadImagesFromFile() @ 0x4034da main @ 0x7f443f437f45 libc_start_main @ 0x403b93 (unknown) pci id for fd 24: 8086:5927, driver (null) [intel_init_bufmgr:1091] Error initializing buffer manager. libGL error: failed to create dri screen libGL error: failed to load driver: i965 [demo_dsm-3] process has died [pid 9198, exit code -11, cmd /home/deltanet/catkin_ws_aerial_mapper/devel/lib/aerial_mapper_demos/aerial_mapper_demos_dsm --flagfile=/home/deltanet/catkin_ws_aerial_mapper/src/aerial_mapper/aerial_mapper_demos/flags/0-synthetic-cadastre-dsm.ff __name:=demo_dsm log:=/home/deltanet/.ros/log/6103b1d6-fd1d-11e7-9de5-f44d306d9b3e/demo_dsm-3.log]. log file: /home/deltanet/.ros/log/6103b1d6-fd1d-11e7-9de5-f44d306d9b3e/demo_dsm-3*.log [ERROR] [1516368828.980968065]: PluginlibFactory: The plugin for class 'grid_map_rviz_plugin/GridMap' failed to load. Error: Could not find library corresponding to plugin grid_map_rviz_plugin/GridMap. Make sure the plugin description XML file has the correct name of the library and that the library actually exists.

<...>

Any idea about these?

Thanks!

hitimo commented 6 years ago
  1. It's not finding the package grid_map_rviz_plugin. Is the package in the catkin_ws, compiled and devel/setup.bash sourced? I.e. cd ~/catkin_ws && catkin build grid_map_rviz_plugin && source devel/setup.bash && roslaunch aerial_mapper_demos 0-synthetic-cadastre-dsm.launch
RicardoRagel commented 6 years ago

Hi and thanks for the changes and the support @hitimo!

I have seen the changes in the last commit and in the installation instructions. There is only one problem: In the installation instructions, maybe the order must be: First wstool update -j8 and later sed -i ... opencv3_catkin/CMakeLists.txt

The 0-synthetic-cadastre-dsm.launch works perfectly now! The accumulated point cloud looks very nice :)

On the other hand, the 1-real-rafz-ortho-from-homography.launch looks like it that does not work correctly. When I launch it, the rafz_gray dataset is load correctly and the node shows the sequence of images, but no homography result is shown and the program fails in:

I0122 10:23:54.483240  4905 aerial-mapper-io.cc:226] Number of images loaded: 249
*** Aborted at 1516613034 (unix time) try "date -d @1516613034" if you are using GNU date ***
PC: @     0x7f4af791e712 ortho::OrthoForwardHomography::prepareBlenderForNextImage()
*** SIGSEGV (@0x0) received by PID 4905 (TID 0x7f4af7cd6800) from PID 0; stack trace: ***
    @     0x7f4af54a7cb0 (unknown)
    @     0x7f4af791e712 ortho::OrthoForwardHomography::prepareBlenderForNextImage()
    @     0x7f4af791f75b ortho::OrthoForwardHomography::OrthoForwardHomography()
    @           0x402361 main
    @     0x7f4af5492f45 __libc_start_main
    @           0x4031f7 (unknown)
[demo_ortho_forward_homography-2] process has died

Maybe it has a similar opencv problem?

Thanks and great work!