search

ethz-asl / okvis_ros

OKVIS: Open Keyframe-based Visual-Inertial SLAM (ROS Version)
Other
270 stars 125 forks source link

Error when trying to run okvis_ros from live topics #15

Open manomitbal opened 7 years ago

manomitbal commented 7 years ago

Hi,

I am running roslaunch okvis_ros okvis_node.launch with remapped topics for camera0, camera1 and the imu. It fails to startup with the following error:

`W0713 15:51:55.874428 3655 Frontend.cpp:282] - Skipping propagation as only one IMU measurement has been given to frontend. Normal when starting up. W0713 15:51:55.901199 3636 Subscriber.cpp:124] Frame delayed at time 1499975515.896575794 W0713 15:51:55.902302 3636 Subscriber.cpp:124] Frame delayed at time 1499975515.896575794 W0713 15:51:55.918020 3636 Subscriber.cpp:124] Frame delayed at time 1499975515.913224088 W0713 15:51:55.922927 3654 parameter_block.h:339] Local parameterization Jacobian computation returnedan invalid matrix for x: 000 000 000 nan nan nan nan Jacobian matrix : 001 000 000 000 000 000 000 001 000 000 000 000 000 000 001 000 000 000 000 000 000 nan nan nan 000 000 000 nan nan nan 000 000 000 nan nan nan 000 000 000 nan nan nan

F0713 15:51:55.923059 3654 parameter_block.h:177] Check failed: UpdateLocalParameterizationJacobian() Local parameterization Jacobian computation failed for x: 000 000 000 nan nan nan nan

Check failure stack trace: @ 0x7fb719f8b5cd google::LogMessage::Fail() W0713 15:51:55.925593 3636 Subscriber.cpp:124] Frame delayed at time 1499975515.913224088 @ 0x7fb719f8d433 google::LogMessage::SendToLog() @ 0x7fb719f8b15b google::LogMessage::Flush() @ 0x7fb719f8de1e google::LogMessageFatal::~LogMessageFatal() @ 0x62f7b3 ceres::internal::ProblemImpl::AddParameterBlock() @ 0x5a1c23 okvis::ceres::Map::addParameterBlock() @ 0x5b377d okvis::Estimator::addStates() @ 0x516eb7 okvis::ThreadedKFVio::matchingLoop() @ 0x7fb719a99c80 (unknown) @ 0x7fb719d6a6ba start_thread @ 0x7fb7191ff3dd clone @ (nil) (unknown)

[okvis_node-1] process has died [pid 3636, exit code -6, cmd /home/fx250/localization_ws/devel_isolated/okvis_ros/lib/okvis_ros/okvis_node /camera0:=/left/image_rect_color /camera1:=/right/image_rect_color /imu:=/mti/sensor/imu __name:=okvis_node __log:=/home/fx250/.ros/log/051ff8ba-67ff-11e7-88c2-001fc69c3cb2/okvis_node-1.log]. `

Any help or suggestions would be appreciated!

Best, Manomit

mmp52 commented 4 years ago

Hey There! I am having a similar problem in another project (https://github.com/HKUST-Aerial-Robotics/VINS-Fusion) but not in the camera parameters, in the initialization process of the VIO. Anyway, have you found the reason behind this since it has been 2 years?

Thanks! Metin