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laxnpander / OpenREALM

OpenREALM is a pipeline for real-time aerial mapping utilizing visual SLAM and 3D reconstruction frameworks.
GNU Lesser General Public License v2.1
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roslaunch realm_ros alexa_noreco error #26

Closed TinaBxt closed 3 years ago

TinaBxt commented 3 years ago

hi, thank you very much for your open source spirit. Now I compiled the project, but an error was reported during runtime. Can you help me find out what the problem is?

roslaunch realm_ros alexa_noreco.launch

error： 2020-07-21 08:59:44.906 ( 0.067s) [ 9A5D3340] densification.cpp:52 WARN| Densification launched, but settings forbid. 2020-07-21 08:59:44.906 ( 0.067s) [ 9A5D3340] densification.cpp:53 WARN| Try set 'use_sparse_depth' or 'use_dense_depth' in settings. All frames are redirected. [realm_pose_estimation-3] process has died [pid 11341, exit code -6, cmd /home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/devel/lib/realm_ros/realm_stage_node name:=realm_pose_estimation log:=/home/bxt/.ros/log/76f0445a-caed-11ea-a7c1-00d86120b817/realm_pose_estimation-3.log]. log file: /home/bxt/.ros/log/76f0445a-caed-11ea-a7c1-00d86120b817/realm_pose_estimation-3*.log

TinaBxt commented 3 years ago

setting /run_id to 76f0445a-caed-11ea-a7c1-00d86120b817 process[rosout-1]: started with pid [11323] started core service [/rosout] process[realm_exiv2_grabber-2]: started with pid [11340] process[realm_pose_estimation-3]: started with pid [11341] process[realm_densification-4]: started with pid [11342] process[realm_surface_generation-5]: started with pid [11343] process[realm_ortho_rectification-6]: started with pid [11344] process[realm_mosaicing-7]: started with pid [11345] process[rviz-8]: started with pid [11346] [ INFO] [1595293184.892678427]: STAGE_NODE [densification]: Loading stage settings from path: /home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/densification/stage_settings.yaml [ INFO] [1595293184.892904989]: STAGE_NODE [densification]: Detected stage type: 'densification' [ INFO] [1595293184.894360878]: STAGE_NODE [pose_estimation]: Loading stage settings from path: /home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/pose_estimation/stage_settings.yaml [ INFO] [1595293184.894612457]: STAGE_NODE [pose_estimation]: Detected stage type: 'pose_estimation' [ INFO] [1595293184.902519914]: Exiv2 Grabber Node [Ankommen]: Successfully loaded camera: cx = 610.324 cy = 516.917 fx = 1209.07 fy = 1210.66 k1 = -0.198806 k2 = 0.122544 p1 = -0.000221 p2 = -0.000877 [ INFO] [1595293184.905241342]: STAGE_NODE [pose_estimation]: : Loading camera from path: /home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/camera/calib.yaml [ INFO] [1595293184.905352018]: STAGE_NODE [pose_estimation]: : Detected camera model: 'pinhole' [ INFO] [1595293184.905373060]: STAGE_NODE [pose_estimation]: : Loading vslam settings from path: /home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/pose_estimation/method/dsm_settings.yaml terminate called after throwing an instance of 'std::invalid_argument' what(): Error: Loading visual slam settings failed. Method 'DSM' not recognized [ INFO] [1595293184.906117139]: STAGE_NODE [densification]: : Loading camera from path: /home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/camera/calib.yaml [ INFO] [1595293184.906223425]: STAGE_NODE [densification]: : Detected camera model: 'pinhole' [ INFO] [1595293184.906241349]: STAGE_NODE [densification]: : Loading densifier settings from path: /home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/densification/method/dummy_settings.yaml [ INFO] [1595293184.906308927]: STAGE_NODE [densification]: : Detected densifier type: 'DUMMY' 2020-07-21 08:59:44.906 ( 0.067s) [ 9A5D3340] densification.cpp:52 WARN| Densification launched, but settings forbid. 2020-07-21 08:59:44.906 ( 0.067s) [ 9A5D3340] densification.cpp:53 WARN| Try set 'use_sparse_depth' or 'use_dense_depth' in settings. All frames are redirected. [ INFO] [1595293184.909657728]: STAGE_NODE [densification]: Started stage node successfully! 2020-07-21 08:59:44.909 ( 0.070s) [ 669CF700] worker_thread_base.cpp:57 0| Thread 'Stage [densification]' starting loop... [ INFO] [1595293184.911362123]: STAGE_NODE [ortho_rectification]: Loading stage settings from path: /home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/ortho_rectification/stage_settings.yaml [ INFO] [1595293184.911591026]: STAGE_NODE [ortho_rectification]: Detected stage type: 'ortho_rectification' [ INFO] [1595293184.914034233]: Scanning input image for provided meta tags...

[ WARN] [1595293184.914522011]: [NOT FOUND] 'Xmp.exif.REALM.Timestamp' [ INFO] [1595293184.914551958]: Image #0, image Path: /home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/edm_big_overlap_50p/img_0000.jpg [ INFO] [1595293184.918102882]: STAGE_NODE [ortho_rectification]: : Loading camera from path: /home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/camera/calib.yaml [ INFO] [1595293184.918208584]: STAGE_NODE [ortho_rectification]: : Detected camera model: 'pinhole' Stage [ortho_rectification]: Created Stage with Settings:

[save_elevation_angle]: 0 [save_elevation]: 0 [save_valid]: 0 [type]: ortho_rectification [save_ortho_gtiff]: 0 [queue_size]: 5 [save_ortho_rgb]: 0 [path_output]: [GSD]: 0.1 [ INFO] [1595293184.921860034]: STAGE_NODE [ortho_rectification]: Started stage node successfully! 2020-07-21 08:59:44.921 ( 0.045s) [ 3F7FE700] worker_thread_base.cpp:57 0| Thread 'Stage [ortho_rectification]' starting loop... [ INFO] [1595293184.927399086]: STAGE_NODE [mosaicing]: Loading stage settings from path: /home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/mosaicing/stage_settings.yaml [ INFO] [1595293184.927725233]: STAGE_NODE [mosaicing]: Detected stage type: 'mosaicing' [ INFO] [1595293184.928936277]: STAGE_NODE [surface_generation]: Loading stage settings from path: /home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/surface_generation/stage_settings.yaml [ INFO] [1595293184.929152161]: STAGE_NODE [surface_generation]: Detected stage type: 'surface_generation' [ INFO] [1595293184.937669907]: STAGE_NODE [mosaicing]: : Loading camera from path: /home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/camera/calib.yaml [ INFO] [1595293184.937811608]: STAGE_NODE [mosaicing]: : Detected camera model: 'pinhole' Stage [mosaicing]: Created Stage with Settings: [downsample_publish_mesh]: 0.5 [save_elevation_var_one]: 0 [save_num_obs_all]: 0 [publish_mesh_at_finish]: 0 [th_elevation_variance]: 1 [type]: mosaicing [save_valid]: 0 [save_elevation_obs_angle_one]: 1 [split_gtiff_channels]: 0 [queue_size]: 5 [path_output]: [th_elevation_min_nobs]: 2 [publish_mesh_every_nth_kf]: 0 [save_ortho_rgb_all]: 0 [save_ortho_rgb_one]: 0 [save_ortho_gtiff_one]: 1 [save_elevation_all]: 0 [save_dense_ply]: 0 [save_ortho_gtiff_all]: 0 [save_num_obs_one]: 1 [save_elevation_one]: 1 [save_elevation_var_all]: 0 [save_elevation_obs_angle_all]: 0 [save_elevation_mesh_one]: 0 [ INFO] [1595293184.941415707]: STAGE_NODE [surface_generation]: : Loading camera from path: /home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/camera/calib.yaml [ INFO] [1595293184.941520487]: STAGE_NODE [surface_generation]: : Detected camera model: 'pinhole' [ INFO] [1595293184.941595868]: STAGE_NODE [mosaicing]: Started stage node successfully! 2020-07-21 08:59:44.941 ( 0.076s) [ C5FFB700] worker_thread_base.cpp:57 0| Thread 'Stage [mosaicing]' starting loop... [ INFO] [1595293184.942773009]: STAGE_NODE [surface_generation]: Started stage node successfully! 2020-07-21 08:59:44.942 ( 0.076s) [ 7B7FE700] worker_thread_base.cpp:57 0| Thread 'Stage [surface_generation]' starting loop... [ INFO] [1595293185.014796964]: Image #1, image Path: /home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/edm_big_overlap_50p/img_0001.jpg [realm_pose_estimation-3] process has died [pid 11341, exit code -6, cmd /home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/devel/lib/realm_ros/realm_stage_node __name:=realm_pose_estimation __log:=/home/bxt/.ros/log/76f0445a-caed-11ea-a7c1-00d86120b817/realm_pose_estimation-3.log]. log file: /home/bxt/.ros/log/76f0445a-caed-11ea-a7c1-00d86120b817/realm_pose_estimation-3*.log [ INFO] [1595293185.115047164]: Image #2, image Path: /home/work/OpenSourceCode/edm_big_overlap_50p/img_0002.jpg [ INFO] [1595293185.215296634]: Image #3, image Path: /home/work/OpenSourceCode/edm_big_overlap_50p/img_0003.jpg [ INFO] [1595293185.315579823]: Image #4, image Path: /home/work/OpenSourceCode/edm_big_overlap_50p/img_0004.jpg
laxnpander commented 3 years ago

@TinaBxt: Hey, yes I can help you. Your actual error is here: 

terminate called after throwing an instance of 'std::invalid_argument'
what(): Error: Loading visual slam settings failed. Method 'DSM' not recognized

To fix it, go to your launch file realm_ros/launch/alexa_noreco.launch and edit the following line:

<param name="config/method" type="string" value="dsm"/> to <param name="config/method" type="string" value="orb_slam2"/>

It's an error from my side. I will fix it in the master branch soon. Let me know if there are other problems that come up.

Best regards,

Alex

laxnpander commented 3 years ago

If you have any more trouble feel free to reopen. For now I'll close this then.