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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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realm_pose_estimation-3 process has died #67

Closed yafenggithub closed 2 years ago

yafenggithub commented 2 years ago

I can run "roslaunch realm_ros alexa_gnss.launch " very well,but when run "roslaunch realm_ros alexa_noreco.launch "and "roslaunch realm_ros alexa_reco.launch ",I get the error "[realm_pose_estimation-3] process has died [pid 23631, exit code -9, cmd /home/ubuntu/catkin_ws/devel/lib/realm_ros/realm_stage_node name:=realm_pose_estimation log:=/home/ubuntu/.ros/log/51d3957e-1bae-11ec-afdd-3cf862d9f68e/realm_pose_estimation-3.log]. log file: /home/ubuntu/.ros/log/51d3957e-1bae-11ec-afdd-3cf862d9f68e/realm_pose_estimation-3*.log" but I cannot find the log.Please help me. Thanks I try it on Ubuntu18.04,try VMware and WSL and PC,the error alway on,the all ouput message is:

... logging to /home/ubuntu/.ros/log/51d3957e-1bae-11ec-afdd-3cf862d9f68e/roslaunch-ubuntu-23606.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://ubuntu:43223/

SUMMARY

PARAMETERS

NODES / realm_exiv2_grabber (realm_ros/realm_exiv2_grabber) realm_mosaicing (realm_ros/realm_stage_node) realm_ortho_rectification (realm_ros/realm_stage_node) realm_pose_estimation (realm_ros/realm_stage_node) realm_surface_generation (realm_ros/realm_stage_node) rviz (rviz/rviz)

auto-starting new master process[master]: started with pid [23616] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 51d3957e-1bae-11ec-afdd-3cf862d9f68e process[rosout-1]: started with pid [23627] started core service [/rosout] process[realm_exiv2_grabber-2]: started with pid [23630] process[realm_pose_estimation-3]: started with pid [23631] process[realm_surface_generation-4]: started with pid [23632] process[realm_ortho_rectification-5]: started with pid [23637] process[realm_mosaicing-6]: started with pid [23638] process[rviz-7]: started with pid [23639] [ INFO] [1632319606.205668389]: STAGE_NODE [pose_estimation]: Loading stage settings from path: /home/ubuntu/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/pose_estimation/stage_settings.yaml [ INFO] [1632319606.206835631]: STAGE_NODE [pose_estimation]: Detected stage type: 'pose_estimation' [ INFO] [1632319606.211654002]: STAGE_NODE [pose_estimation]: : Loading camera from path: /home/ubuntu/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/camera/calib.yaml [ INFO] [1632319606.211835892]: STAGE_NODE [pose_estimation]: : Detected camera model: 'pinhole' [ INFO] [1632319606.211865753]: STAGE_NODE [pose_estimation]: : Loading vslam settings from path: /home/ubuntu/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/pose_estimation/method/open_vslam_settings.yaml [ INFO] [1632319606.211980372]: STAGE_NODE [pose_estimation]: : Detected vslam type: 'OPEN_VSLAM' 2021-09-22 14:06:46.212 ( 0.030s) [ 1A710680] pose_estimation.cpp:40 0| Stage [pose_estimation]: Created Stage with Settings:

<Param>[save_keyframes_full]: 0
<Param>[save_frames]: 0
<Param>[save_trajectory_gnss]: 1
<Param>[save_trajectory_visual]: 1
<Param>[overlap_max_fallback]: 95
<Param>[use_vslam]: 1
<Param>[path_output]: 
<Param>[queue_size]: 10
<Param>[min_nrof_frames_georef]: 5
<Param>[use_imu]: 0
<Param>[type]: pose_estimation
<Param>[set_all_frames_keyframes]: 0
<Param>[init_lost_frames_reset_count]: 15
<Param>[fallback_strategy]: 1
<Param>[update_georef]: 0
<Param>[save_keyframes]: 0
<Param>[log_to_file]: 1
<Param>[do_delay_keyframes]: 1
<Param>[suppress_outdated_pose_pub]: 0
<Param>[use_initial_guess]: 0
<Param>[th_error_georef]: 1
<Param>[overlap_max]: 100

[2021-09-22 14:06:46.212] [info] config file loaded: [2021-09-22 14:06:46.215] [info]

/ \ _ \ \ / / | | /\ | \/ | | () | ' \/ -) ' \ V /__ \ |_ / | |\/| | _/| ./_||||_/ |_/__// __| || |_|

Copyright (C) 2019, National Institute of Advanced Industrial Science and Technology (AIST) All rights reserved.

This is free software, and you are welcome to redistribute it under certain conditions. See the LICENSE file.

Camera: fx: 725.4394416 fy: 726.3970548 cx: 366.1941516 cy: 310.1503962 k1: -0.198806 k2: 0.122544 p1: -0.000221 p2: -0.000877 k3: 0 name: cam model: perspective color_order: RGB fps: 10 cols: 736 rows: 615 setup: monocular Feature: max_num_keypoints: 2000 ini_max_num_keypoints: 4000 num_levels: 12 scale_factor: 1.1 ini_fast_threshold: 20 min_fast_threshold: 5 Mapping: baseline_dist_thr_ratio: 0.02

[2021-09-22 14:06:46.215] [info] loading ORB vocabulary: /home/ubuntu/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/pose_estimation/method/open_vslam/orb_vocab.fbow [ INFO] [1632319606.250372020]: STAGE_NODE [surface_generation]: Loading stage settings from path: /home/ubuntu/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/surface_generation/stage_settings.yaml [ INFO] [1632319606.252467341]: STAGE_NODE [surface_generation]: Detected stage type: 'surface_generation' [ INFO] [1632319606.259459615]: STAGE_NODE [surface_generation]: : Loading camera from path: /home/ubuntu/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/camera/calib.yaml [ INFO] [1632319606.259607720]: STAGE_NODE [surface_generation]: : Detected camera model: 'pinhole' [ INFO] [1632319606.262160130]: STAGE_NODE [surface_generation]: Started stage node successfully! 2021-09-22 14:06:46.262 ( 0.031s) [Stage [surface_g] worker_thread_base.cpp:43 0| Thread 'Stage [surface_generation]' starting loop... [ INFO] [1632319606.282169342]: STAGE_NODE [mosaicing]: Loading stage settings from path: /home/ubuntu/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/mosaicing/stage_settings.yaml [ INFO] [1632319606.283451126]: STAGE_NODE [ortho_rectification]: Loading stage settings from path: /home/ubuntu/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/ortho_rectification/stage_settings.yaml [ INFO] [1632319606.283987868]: STAGE_NODE [mosaicing]: Detected stage type: 'mosaicing' [ INFO] [1632319606.284514563]: STAGE_NODE [ortho_rectification]: Detected stage type: 'ortho_rectification' [ INFO] [1632319606.294599723]: STAGE_NODE [mosaicing]: : Loading camera from path: /home/ubuntu/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/camera/calib.yaml [ INFO] [1632319606.294814405]: STAGE_NODE [mosaicing]: : Detected camera model: 'pinhole' Stage [mosaicing]: Created Stage with Settings: [ INFO] [1632319606.294915520]: Exiv2 Grabber Node [Ankommen]: Successfully loaded camera: cx = 610.324

[save_num_obs_all]: 0 cy = 516.917 [save_num_obs_one]: 1 fx = 1209.07 [save_elevation_mesh_one]: 0 fy = 1210.66 [save_elevation_obs_angle_all]: 0 k1 = -0.198806 [save_elevation_obs_angle_one]: 1 k2 = 0.122544 [save_elevation_var_all]: 0 p1 = -0.000221 [save_elevation_all]: 0 p2 = -0.000877 [th_elevation_variance]: 1 [th_elevation_min_nobs]: 2 [path_output]: [save_dense_ply]: 1 [queue_size]: 5 [save_elevation_var_one]: 0 [log_to_file]: 1 [save_ortho_rgb_one]: 1 [type]: mosaicing [publish_mesh_every_nth_kf]: 0 [publish_mesh_at_finish]: 1 [save_ortho_gtiff_one]: 1 [split_gtiff_channels]: 0 [save_elevation_one]: 1 [save_ortho_gtiff_all]: 0 [downsample_publish_mesh]: 0.5 [save_valid]: 0 [save_ortho_rgb_all]: 0 [ INFO] [1632319606.298371885]: STAGE_NODE [ortho_rectification]: : Loading camera from path: /home/ubuntu/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/camera/calib.yaml [ INFO] [1632319606.298557012]: STAGE_NODE [ortho_rectification]: : Detected camera model: 'pinhole' Stage [ortho_rectification]: Created Stage with Settings: [save_elevation]: 0 [save_ortho_gtiff]: 0 [save_valid]: 0 [save_elevation_angle]: 0 [type]: ortho_rectification [save_ortho_rgb]: 0 [log_to_file]: 1 [publish_pointcloud]: 0 [queue_size]: 5 [path_output]: [GSD]: 0.1 [ INFO] [1632319606.302635851]: STAGE_NODE [ortho_rectification]: Started stage node successfully! 2021-09-22 14:06:46.302 ( 0.045s) [Stage [ortho_rec] worker_thread_base.cpp:43 0| Thread 'Stage [ortho_rectification]' starting loop... [ INFO] [1632319606.303720143]: STAGE_NODE [mosaicing]: Started stage node successfully! 2021-09-22 14:06:46.303 ( 0.047s) [Stage [mosaicing] worker_thread_base.cpp:43 0| Thread 'Stage [mosaicing]' starting loop... [ INFO] [1632319606.510875165]: Scanning input image for provided meta tags... [ INFO] [1632319606.528516735]: [FOUND] 'Exif.GPSInfo.GPSAltitude' [ INFO] [1632319606.528578074]: [FOUND] 'Exif.GPSInfo.GPSLatitude' [ INFO] [1632319606.528612604]: [FOUND] 'Exif.GPSInfo.GPSLatitudeRef' [ INFO] [1632319606.528630793]: [FOUND] 'Exif.GPSInfo.GPSLongitude' [ INFO] [1632319606.528658831]: [FOUND] 'Exif.GPSInfo.GPSLongitudeRef' [ INFO] [1632319606.528691005]: [FOUND] 'Exif.Image.Model' [ INFO] [1632319606.528705637]: [FOUND] 'Xmp.exif.REALM.Heading' [ WARN] [1632319606.528721543]: [NOT FOUND] 'Xmp.exif.REALM.Timestamp' [ INFO] [1632319606.528786692]: Image #0, image Path: /media/ubuntu/DATA/4slam/OpenREALM/open_data/edm_big_overlap_50p/img_0000.jpg [ INFO] [1632319606.772487546]: Image #1, image Path: /media/ubuntu/DATA/4slam/OpenREALM/open_data/edm_big_overlap_50p/img_0001.jpg [ INFO] [1632319607.003504440]: Image #2, image Path: /media/ubuntu/DATA/4slam/OpenREALM/open_data/edm_big_overlap_50p/img_0002.jpg [ INFO] [1632319607.261727303]: Image #3, image Path: /media/ubuntu/DATA/4slam/OpenREALM/open_data/edm_big_overlap_50p/img_0003.jpg [ INFO] [1632319607.595884132]: Image #4, image Path: /media/ubuntu/DATA/4slam/OpenREALM/open_data/edm_big_overlap_50p/img_0004.jpg [realm_pose_estimation-3] process has died [pid 23631, exit code -9, cmd /home/ubuntu/catkin_ws/devel/lib/realm_ros/realm_stage_node __name:=realm_pose_estimation __log:=/home/ubuntu/.ros/log/51d3957e-1bae-11ec-afdd-3cf862d9f68e/realm_pose_estimation-3.log]. log file: /home/ubuntu/.ros/log/51d3957e-1bae-11ec-afdd-3cf862d9f68e/realm_pose_estimation-3*.log [ INFO] [1632319615.151640535]: Image #5, image Path: /media/ubuntu/DATA/4slam/OpenREALM/open_data/edm_big_overlap_50p/img_0005.jpg 2021-09-22 14:06:56.259 ( 10.028s) [ ABFFF700] stage_base.cpp:103 0| { Stage [surface_generation] statistics 2021-09-22 14:06:56.259 ( 10.028s) [ ABFFF700] stage_base.cpp:104 0| . Total frames: 0 2021-09-22 14:06:56.259 ( 10.028s) [ ABFFF700] stage_base.cpp:105 0| . Processed frames: 0 2021-09-22 14:06:56.259 ( 10.028s) [ ABFFF700] stage_base.cpp:106 0| . Bad frames: 0 2021-09-22 14:06:56.259 ( 10.028s) [ ABFFF700] stage_base.cpp:107 0| . Dropped frames: 0 2021-09-22 14:06:56.259 ( 10.028s) [ ABFFF700] stage_base.cpp:108 0| . Fps in: 0.00 2021-09-22 14:06:56.259 ( 10.028s) [ ABFFF700] stage_base.cpp:109 0| . Fps out: 0.00 2021-09-22 14:06:56.259 ( 10.028s) [ ABFFF700] stage_base.cpp:103 0| } 0.000 s: Stage [surface_generation] statistics 2021-09-22 14:06:56.295 ( 10.038s) [ C3C700] stage_base.cpp:103 0| { Stage [mosaicing] statistics 2021-09-22 14:06:56.295 ( 10.038s) [ C3C700] stage_base.cpp:104 0| . Total frames: 0 2021-09-22 14:06:56.295 ( 10.038s) [ C3C700] stage_base.cpp:105 0| . Processed frames: 0 2021-09-22 14:06:56.295 ( 10.038s) [ C3C700] stage_base.cpp:106 0| . Bad frames: 0 2021-09-22 14:06:56.295 ( 10.038s) [ C3C700] stage_base.cpp:107 0| . Dropped frames: 0 2021-09-22 14:06:56.295 ( 10.038s) [ C3C700] stage_base.cpp:108 0| . Fps in: 0.00 2021-09-22 14:06:56.295 ( 10.038s) [ C3C700] stage_base.cpp:109 0| . Fps out: 0.00 2021-09-22 14:06:56.295 ( 10.038s) [ C3C700] stage_base.cpp:103 0| } 0.000 s: Stage [mosaicing] statistics 2021-09-22 14:06:56.298 ( 10.041s) [ 93FFF700] stage_base.cpp:103 0| { Stage [ortho_rectification] statistics 2021-09-22 14:06:56.298 ( 10.041s) [ 93FFF700] stage_base.cpp:104 0| . Total frames: 0 2021-09-22 14:06:56.298 ( 10.041s) [ 93FFF700] stage_base.cpp:105 0| . Processed frames: 0 2021-09-22 14:06:56.298 ( 10.041s) [ 93FFF700] stage_base.cpp:106 0| . Bad frames: 0 2021-09-22 14:06:56.298 ( 10.041s) [ 93FFF700] stage_base.cpp:107 0| . Dropped frames: 0 2021-09-22 14:06:56.298 ( 10.041s) [ 93FFF700] stage_base.cpp:108 0| . Fps in: 0.00 2021-09-22 14:06:56.298 ( 10.041s) [ 93FFF700] stage_base.cpp:109 0| . Fps out: 0.00 2021-09-22 14:06:56.298 ( 10.041s) [ 93FFF700] stage_base.cpp:103 0| } 0.000 s: Stage [ortho_rectification] statistics [ INFO] [1632319616.340901759]: Image #6, image Path: /media/ubuntu/DATA/4slam/OpenREALM/open_data/edm_big_overlap_50p/img_0006.jpg [ INFO] [1632319616.576033998]: Image #7, image Path: /media/ubuntu/DATA/4slam/OpenREALM/open_data/edm_big_overlap_50p/img_0007.jpg [ INFO] [1632319616.782662306]: Image #8, image Path: /media/ubuntu/DATA/4slam/OpenREALM/open_data/edm_big_overlap_50p/img_0008.jpg [ INFO] [1632319617.016339571]: Image #9, image Path: /media/ubuntu/DATA/4slam/OpenREALM/open_data/edm_big_overlap_50p/img_0009.jpg [ INFO] [1632319617.205225696]: Image #10, image Path: /media/ubuntu/DATA/4slam/OpenREALM/open_data/edm_big_overlap_50p/img_0010.jpg [ INFO] [1632319617.459302860]: Image #11, image Path: /media/ubuntu/DATA/4slam/OpenREALM/open_data/edm_big_overlap_50p/img_0011.jpg [ INFO] [1632319617.657814070]: Image #12, image Path: /media/ubuntu/DATA/4slam/OpenREALM/open_data/edm_big_overlap_50p/img_0012.jpg [ INFO] [1632319617.877983860]: Image #13, image Path: /media/ubuntu/DATA/4slam/OpenREALM/open_data/edm_big_overlap_50p/img_0013.jpg [ INFO] [1632319618.073904561]: Image #14, image Path: /media/ubuntu/DATA/4slam/OpenREALM/open_data/edm_big_overlap_50p/img_0014.jpg [ INFO] [1632319618.305228749]: Image #15, image Path: /media/ubuntu/DATA/4slam/OpenREALM/open_data/edm_big_overlap_50p/img_0015.jpg [ INFO] [1632319618.515402430]: Image #16, image Path: /media/ubuntu/DATA/4slam/OpenREALM/open_data/edm_big_overlap_50p/img_0016.jpg [ INFO] [1632319618.759004022]: Image #17, image Path: /media/ubuntu/DATA/4slam/OpenREALM/open_data/edm_big_overlap_50p/img_0017.jpg [ INFO] [1632319618.955550030]: Image #18, image Path: /media/ubuntu/DATA/4slam/OpenREALM/open_data/edm_big_overlap_50p/img_0018.jpg ^C[rviz-7] killing on exit [realm_mosaicing-6] killing on exit [realm_ortho_rectification-5] killing on exit [realm_surface_generation-4] killing on exit [realm_exiv2_grabber-2] killing on exit 2021-09-22 14:06:59.369 ( 13.137s) [ E42E2680] worker_thread_base.cpp:129 0| Thread 'Stage [surface_generation]' received finish request... 2021-09-22 14:06:59.372 ( 13.115s) [ 2CB75680] worker_thread_base.cpp:129 0| Thread 'Stage [mosaicing]' received finish request... 2021-09-22 14:06:59.372 ( 13.115s) [ 2CB75680] mosaicing.cpp:219 ERR| No global map created, skipping saveAll() 2021-09-22 14:06:59.378 ( 13.121s) [ CC338680] worker_thread_base.cpp:129 0| Thread 'Stage [ortho_rectification]' received finish request... 2021-09-22 14:06:59.441 ( 13.183s) [Stage [ortho_rec] worker_thread_base.cpp:101 0| Thread 'Stage [ortho_rectification]' finished! 2021-09-22 14:06:59.441 ( 13.210s) [Stage [surface_g] worker_thread_base.cpp:101 0| Thread 'Stage [surface_generation]' finished! 2021-09-22 14:06:59.441 ( 13.184s) [Stage [mosaicing] worker_thread_base.cpp:101 0| Thread 'Stage [mosaicing]' finished! [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done
yafenggithub commented 2 years ago

The orb vocabulary cause this error,I have solved this problem,thanks.I will colse it.

laxnpander commented 2 years ago

@yafenggithub Hey, Sorry I didn’t respond quick enough. I was on vacation. Glad you could resolve your issues! I am aware of the problem and thought I patched it already. It is related to the ros bridge not so much repo. But thanks for pointing it out!

zxr12748 commented 2 years ago

The orb vocabulary cause this error,I have solved this problem,thanks.I will colse it.

exactly same problem here, could you give more detail information about how you solve it? thx~

laxnpander commented 2 years ago

@zxr12748 When did you clone ROS bridge and main library? First, try to pull the latest builds. I can't remember what the issue was exactly, in my memory it was trying to load orb_vocab.fbow but it wasn't existing in the corresponding profile. Make sure when you run alexa_reco.launch for example that there is this file https://github.com/laxnpander/OpenREALM_ROS1_Bridge/tree/master/realm_ros/profiles/alexa_reco/pose_estimation/method/open_vslam

zxr12748 commented 2 years ago

@laxnpander I cloned both latest repositories. when i tried to load ORBvoc.bin instead, this is the file https://github.com/laxnpander/OpenREALM_ROS1_Bridge/blob/master/realm_ros/profiles/alexa_reco/pose_estimation/method/orb_slam3/ORBvoc.bin, alexa_noreco.launch ran well. Don't know why. Both orb_vocab.fbow and ORBvoc.bin files are in the right path.

csm-coder commented 2 years ago

@zxr12748 i have the same problem and have no idea about it. do you solve it? thanks.

laxnpander commented 2 years ago

@zxr12748 Can you post the terminal output? Or run the pose estimation node in gdb and Post the stacktrace? http://wiki.ros.org/roslaunch/Tutorials/Roslaunch%20Nodes%20in%20Valgrind%20or%20GDB

laxnpander commented 2 years ago

No updates, so closing until reopened.