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ethz-asl / ethzasl_ptam

Modified version of Parallel Tracking and Mapping (PTAM)
http://wiki.ros.org/ethzasl_ptam
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initialization failure for PTAM #54

Closed Ziyou1987 closed 9 years ago

Ziyou1987 commented 9 years ago

Hi, guys

I run the PTAM following this tutorial because my laptop does not have a Nvidia graphic card: http://wiki.ros.org/ethzasl_ptam/Tutorials/remote_ptam

I got: process[ptam-1]: started with pid [5581] [ INFO] [1422319852.242389196]: starting ptam with node name /ptam Welcome to PTAM

Parallel tracking and mapping for Small AR workspaces Copyright (C) Isis Innovation Limited 2008 Gui is off

Then I run the remote_ptam. When I first pressed the space key, I can see feature tracks when I moved the camera but when I pressed the space key again, the PTAM node died immediately: [ptam-1] process has died [pid 5581, exit code -4, cmd /home/liping/catkin_ws/devel/lib/ptam/ptam image:=/gray/image_raw pose:=pose name:=ptam log:=/home/liping/.ros/log/88182626-a5be-11e4-87f3-40e2301b88e0/ptam-1.log]. log file: /home/liping/.ros/log/88182626-a5be-11e4-87f3-40e2301b88e0/ptam-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete

I tried many times with large baseline between the first key frames. Any idea why this happens? Thank you.

BTW, this link: https://github.com/ethz-asl/ethzasl_ptam/issues/6 did not help me solve my problem.

Ziyou1987 commented 9 years ago

I am now using Ubuntu 14.04 and ROS indigo on my ASUS laptop. The above problem is gone. But, during initialization, I always got the warning "Could not add any map points on any level - abort init", although I did translate the camera rather than rotate it. I changed the parameter "InitLevel: from 1 to 3, still not working.

simonlynen commented 9 years ago

This sounds like either your camera calibration is not accurate or too little texture in the environment. How many trails do you see roughly during the init? On Jan 26, 2015 11:55 AM, "Ziyou1987" notifications@github.com wrote:

I am now using Ubuntu 14.04 and ROS indigo on my ASUS laptop. The above problem is gone. But, during initialization, I always got the warning "Could not add any map points on any level - abort init", although I did translate the camera rather than rotate it. I changed the parameter "InitLevel: from 1 to 3, still not working.

— Reply to this email directly or view it on GitHub https://github.com/ethz-asl/ethzasl_ptam/issues/54#issuecomment-71443921 .

Ziyou1987 commented 9 years ago

I calibrated the camera again, and now it is working ! Thank you very much.

ghost commented 9 years ago

Hi im Using the sample bag file (ethzasl_ptam_desktop_sample;bag) on the http://wiki.ros.org/ethzasl_ptam/Tutorials/using_ethzasl_ptam Whan i run the roslaunch ptam ptam.launch I Get the follwing message CLEAR PARAMETERS

PARAMETERS

NODES / ptam (ptam/ptam)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[ptam-1]: started with pid [15541] [ INFO] [1427896285.184582970]: starting ptam with node name /ptam Welcome to PTAM

Parallel tracking and mapping for Small AR workspaces Copyright (C) Isis Innovation Limited 2008

Gui is on [ptam-1] process has died [pid 15541, exit code -11, cmd /home/master/catkin_ws/devel/lib/ptam/ptam image:=/camera/image_raw pose:=pose name:=ptam log:=/home/master/.ros/log/cf52da6c-d873-11e4-a1ca-d8fc9361bda4/ptam-1.log]. log file: /home/master/.ros/log/cf52da6c-d873-11e4-a1ca-d8fc9361bda4/ptam-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done can someone help please

stephanweiss commented 9 years ago

Hi

Just some sanity checks: Did you load the correct camera parameters? I assume you are on 14.04 and Indigo using the master branch of the package?

Best, Stephan

From: iamfarhan007 [notifications@github.com] Sent: Wednesday, April 01, 2015 6:56 AM To: ethz-asl/ethzasl_ptam Subject: Re: [ethzasl_ptam] initialization failure for PTAM (#54)

Hi im Using the sample bag file (ethzasl_ptam_desktop_sample;bag) on the http://wiki.ros.org/ethzasl_ptam/Tutorials/using_ethzasl_ptam Whan i run the roslaunch ptam ptam.launch I Get the follwing message CLEAR PARAMETERS

PARAMETERS

NODES / ptam (ptam/ptam)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[ptam-1]: started with pid [15541] [ INFO] [1427896285.184582970]: starting ptam with node name /ptam Welcome to PTAM

Parallel tracking and mapping for Small AR workspaces Copyright (C) Isis Innovation Limited 2008

Gui is on [ptam-1] process has died [pid 15541, exit code -11, cmd /home/master/catkin_ws/devel/lib/ptam/ptam image:=/camera/image_raw pose:=pose name:=ptam log:=/home/master/.ros/log/cf52da6c-d873-11e4-a1ca-d8fc9361bda4/ptam-1.log]. log file: /home/master/.ros/log/cf52da6c-d873-11e4-a1ca-d8fc9361bda4/ptam-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done can someone help please

— Reply to this email directly or view it on GitHubhttps://github.com/ethz-asl/ethzasl_ptam/issues/54#issuecomment-88489182.

ghost commented 9 years ago

Thanks Stephan i forgot to mention I using ubunto 12.04 and ROS groovy. im using the same PtamFixParams.yml file which came along with ethzasl_ptam_desktop_sample.bag. i repleced it with the orignal one in /ethzasl_ptam/ptam

best farhan

stephanweiss commented 9 years ago

I am not up to date on the status for 12.04 and groovy, but I think there might be a flag for it in the commit history. You could revert to that and test again. I doubt that the latest version on master will work flawlessly for 12.04 and groovy. Also, did you have a look at the log files?

If your project allows to upgrade to 14.04 and fuerte, that might also solve some issues.

Best, Stephan

From: iamfarhan007 [notifications@github.com] Sent: Wednesday, April 01, 2015 1:22 PM To: ethz-asl/ethzasl_ptam Cc: Stephan Weiss Subject: Re: [ethzasl_ptam] initialization failure for PTAM (#54)

Thanks Stephan i forgot to mention I using ubunto 12.04 and ROS groovy. im using the same PtamFixParams.yml file which came along with ethzasl_ptam_desktop_sample.bag. i repleced it with the orignal one in /ethzasl_ptam/ptam

best farhan

— Reply to this email directly or view it on GitHubhttps://github.com/ethz-asl/ethzasl_ptam/issues/54#issuecomment-88620536.

ghost commented 9 years ago

thanks i will look into this matter . i getting another problem just by running the ptam node

master@po-drone2:~/catkin_ws$ rosrun ptam ptam image:=/camera/image_raw [ INFO] [1427921695.616893941]: starting ptam with node name /ptam Welcome to PTAM

Parallel tracking and mapping for Small AR workspaces Copyright (C) Isis Innovation Limited 2008

Gui is on Segmentation fault

Perhaps it helps rectifying the prolem

farhan

stephanweiss commented 9 years ago

Not quite sure what the root of this problem is. Could you attach a log file with the output of "rosparam dump"? I assume that you linked the topics correctly (verify with rqt_graph) and that the bag file is the only source providing the topic (i.e. no live sensors nor other bag files running).

Best Stephan

From: iamfarhan007 [notifications@github.com] Sent: Wednesday, April 01, 2015 2:00 PM To: ethz-asl/ethzasl_ptam Cc: Stephan Weiss Subject: Re: [ethzasl_ptam] initialization failure for PTAM (#54)

thanks i will look into this matter . i getting another problem just by running the ptam node

master@po-drone2:~/catkin_ws$ rosrun ptam ptam image:=/camera/image_raw [ INFO] [1427921695.616893941]: starting ptam with node name /ptam Welcome to PTAM

Parallel tracking and mapping for Small AR workspaces Copyright (C) Isis Innovation Limited 2008

Gui is on Segmentation fault

Perhaps it helps rectifying the prolem

farhan

— Reply to this email directly or view it on GitHubhttps://github.com/ethz-asl/ethzasl_ptam/issues/54#issuecomment-88630533.

ghost commented 9 years ago

im relatively new to ROS , i dont get your first question ..........but here r the log files in the /home/master/.ros/log/cf52da6c-d873-11e4-a1ca-d8fc9361bda4/ folder

I Ran the node again

master@po-drone2:~$ roslaunch ptam ptam.launch ... logging to /home/master/.ros/log/a5de396a-d8b9-11e4-a1fe-d8fc9361bda4/roslaunch-po-drone2-9961.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://po-drone2:54471/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES / ptam (ptam/ptam)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[ptam-1]: started with pid [9981] [ INFO] [1427926837.974460085]: starting ptam with node name /ptam Welcome to PTAM

Parallel tracking and mapping for Small AR workspaces Copyright (C) Isis Innovation Limited 2008

Gui is on [ptam-1] process has died [pid 9981, exit code -11, cmd /home/master/catkin_ws/devel/lib/ptam/ptam image:=/camera/image_raw pose:=pose name:=ptam log:=/home/master/.ros/log/a5de396a-d8b9-11e4-a1fe-d8fc9361bda4/ptam-1.log]. log file: /home/master/.ros/log/a5de396a-d8b9-11e4-a1fe-d8fc9361bda4/ptam-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done

$rqt_graph

selection_003

thanks farhan

stephanweiss commented 9 years ago

please do a rosparam dump myparams.txt and send me the myparams.txt file

Ziyou1987 commented 9 years ago

Hi, iamfarhan007, have you solved your problem ? I was using my ASUS laptop with Ubuntu 12.04 and ROS groovy and having similar problems like yours. Then I upgraded the system to Ubuntu 14.04 and ROS indigo and the problem was gone. Also I run the PTAM on another older laptop with intel graphic card, still, the algorithm is running fine. You may try different computer or different OS and ROS.

ghost commented 9 years ago

i solved the problem yesterday . i removed groovy with all its dependencies and reinstalled it again problem solved :-)

thanks farhan

On Fri, Apr 10, 2015 at 4:05 AM, Ziyou1987 notifications@github.com wrote:

Hi, iamfarhan007, have you solved your problem ? I was using my ASUS laptop with Ubuntu 12.04 and ROS groovy and having similar problems like yours. Then I upgraded the system to Ubuntu 14.04 and ROS indigo and the problem was gone. Also I run the PTAM on another older laptop with intel graphic card, still, the algorithm is running fine. You may try different computer or different OS and ROS.

— Reply to this email directly or view it on GitHub https://github.com/ethz-asl/ethzasl_ptam/issues/54#issuecomment-91400976 .

stephanweiss commented 9 years ago

Farhan, Glad to hear things work now. Thanks very much for the update!

Best, Stephan

From: iamfarhan007 [notifications@github.com] Sent: Saturday, April 11, 2015 1:13 PM To: ethz-asl/ethzasl_ptam Cc: Stephan Weiss Subject: Re: [ethzasl_ptam] initialization failure for PTAM (#54)

i solved the problem yesterday . i removed groovy with all its dependencies and reinstalled it again problem solved :-)

thanks farhan

On Fri, Apr 10, 2015 at 4:05 AM, Ziyou1987 notifications@github.com wrote:

Hi, iamfarhan007, have you solved your problem ? I was using my ASUS laptop with Ubuntu 12.04 and ROS groovy and having similar problems like yours. Then I upgraded the system to Ubuntu 14.04 and ROS indigo and the problem was gone. Also I run the PTAM on another older laptop with intel graphic card, still, the algorithm is running fine. You may try different computer or different OS and ROS.

— Reply to this email directly or view it on GitHub https://github.com/ethz-asl/ethzasl_ptam/issues/54#issuecomment-91400976 .

— Reply to this email directly or view it on GitHubhttps://github.com/ethz-asl/ethzasl_ptam/issues/54#issuecomment-91920842.

ghost commented 9 years ago

Hi everone I again having probllem intailizing ethzasl_ptam . iv calibrated my camera. im using image proc node for pulishing image data on /camera3/image_mono . in the PtamFixParams.yaml iv set gui : true , imageSizeX: 752
imageSizeY: 480 i got these values form camera3/camera_info

when i launch ptam ptam.launch

... logging to /home/asctec/.ros/log/034e189c-e510-11e4-a3a6-c4d9879214ea/roslaunch-mastermind-9745.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://mastermind:34641/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES / ptam (ptam/ptam)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[ptam-1]: started with pid [9768] [ INFO] [1429281848.716796560]: starting ptam with node name /ptam Welcome to PTAM

Parallel tracking and mapping for Small AR workspaces Copyright (C) Isis Innovation Limited 2008

Gui is on [ptam-1] process has died [pid 9768, exit code -11, cmd /home/asctec/catkin_ws/devel/lib/ptam/ptam image:=/camera3/image_mono pose:=pose name:=ptam log:=/home/asctec/.ros/log/034e189c-e510-11e4-a3a6-c4d9879214ea/ptam-1.log]. log file: /home/asctec/.ros/log/034e189c-e510-11e4-a3a6-c4d9879214ea/ptam-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done

stephanweiss commented 9 years ago

Did you follow the suggestions of Farhan and Ziyou below? Also, what is your OS and ROS version?

Best, Stephan

From: iamfarhan007 [notifications@github.com] Sent: Friday, April 17, 2015 7:45 AM To: ethz-asl/ethzasl_ptam Cc: Stephan Weiss Subject: Re: [ethzasl_ptam] initialization failure for PTAM (#54)

Hi everone I again having probllem intailizing ethzasl_ptam . iv calibrated my camera. im using image proc node for pulishing image data on /camera3/image_mono . in the PtamFixParams.yaml iv set gui : true , imageSizeX: 752

imageSizeY: 480 i got these values form camera3/camera_info

when i launch ptam ptam.launch

... logging to /home/asctec/.ros/log/034e189c-e510-11e4-a3a6-c4d9879214ea/roslaunch-mastermind-9745.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://mastermind:34641/

SUMMARY

CLEAR PARAMETERS

PARAMETERS

NODES / ptam (ptam/ptam)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[ptam-1]: started with pid [9768] [ INFO] [1429281848.716796560]: starting ptam with node name /ptam Welcome to PTAM

Parallel tracking and mapping for Small AR workspaces Copyright (C) Isis Innovation Limited 2008

Gui is on [ptam-1] process has died [pid 9768, exit code -11, cmd /home/asctec/catkin_ws/devel/lib/ptam/ptam image:=/camera3/image_mono pose:=pose name:=ptam log:=/home/asctec/.ros/log/034e189c-e510-11e4-a3a6-c4d9879214ea/ptam-1.log]. log file: /home/asctec/.ros/log/034e189c-e510-11e4-a3a6-c4d9879214ea/ptam-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done

— Reply to this email directly or view it on GitHubhttps://github.com/ethz-asl/ethzasl_ptam/issues/54#issuecomment-94000122.

ghost commented 9 years ago

Hi stephan

now i installed ununto 14.04.1 ros indigo . but problem is i cannot build the package ethzasl_ptam i get the following errors

..................... Linking CXX executable /home/farhan/catkin_ws/devel/lib/ptam/ptam /usr/bin/ld: cannot find -lblas /usr/bin/ld: cannot find -llapack collect2: error: ld returned 1 exit status make[2]: * [/home/farhan/catkin_ws/devel/lib/ptam/cameracalibrator] Error 1 make[1]: * [ethzasl_ptam/ptam/CMakeFiles/cameracalibrator.dir/all] Error 2 make[1]: * Waiting for unfinished jobs.... /usr/bin/ld: cannot find -lblas /usr/bin/ld: cannot find -llapack collect2: error: ld returned 1 exit status make[2]: * [/home/farhan/catkin_ws/devel/lib/ptam/ptam] Error 1 make[1]: * [ethzasl_ptam/ptam/CMakeFiles/ptam.dir/all] Error 2 make: * [all] Error 2 Invoking "make -j4 -l4" failed

thanks Farhan

simonlynen commented 9 years ago

@iamfarhan007 huh? Here https://github.com/ethz-asl/ethzasl_ptam/issues/59 you wrote that it is solved.

ghost commented 9 years ago

thanks simonlynen ... i forgot.... after reading #59 i managed to compile it to stephan ... thanks for your advice iv now updated ubunto and ros to 14.04 and indigo the ethzasl_ptam now just works fine for the sample bag file. on monday i will run it on my drone.

thanks a lot best Farhan

stephanweiss commented 9 years ago

Gald to hear. So the take-home message for us is that we would need to do some work to get groovy + 12.04 running again with the sample data set. Not sure if and when that will happen, and if it is beneficial for the community.

Best, Stephan

markusachtelik commented 9 years ago

The ros groovy distro is officially not supported anymore, and with ros jade coming up soon, support for hydro will be stopped as well -- I'd rather focus efforts on getting this ready for jade, which I believe is more beneficial.