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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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Error when run: roslaunch realm_ros alexa_noreco.launch #74

Closed wuxiangchao closed 2 years ago

wuxiangchao commented 2 years ago

While roslaunch realm_ros alexa_gnss.launch is working whitout any problem, but when i run roslaunch realm_ros alexa_noreco.launch with yaml exception:

[2022-07-20 16:33:55.521] [info] config file loaded: terminate called after throwing an instance of 'YAML::InvalidNode' what(): invalid node; this may result from using a map iterator as a sequence iterator, or vice-versa

===========================

sirope@ubuntu20-04:~/SourceCode/OpenREALM/catkin_ws$ roslaunch realm_ros alexa_noreco.launch ... logging to /home/sirope/.ros/log/b0fa8658-0806-11ed-bba5-17ed01860011/roslaunch-ubuntu20-04-40087.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://ubuntu20-04:35557/

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 [40110] ROS_MASTER_URI=http://localhost:11311

setting /run_id to b0fa8658-0806-11ed-bba5-17ed01860011 process[rosout-1]: started with pid [40135] started core service [/rosout] process[realm_exiv2_grabber-2]: started with pid [40142] process[realm_pose_estimation-3]: started with pid [40143] process[realm_surface_generation-4]: started with pid [40144] process[realm_ortho_rectification-5]: started with pid [40145] process[realm_mosaicing-6]: started with pid [40146] process[rviz-7]: started with pid [40147] [ INFO] [1658306035.516109024]: STAGE_NODE [pose_estimation]: Loading stage settings from path: /home/sirope/SourceCode/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/pose_estimation/stage_settings.yaml [ INFO] [1658306035.517084211]: STAGE_NODE [pose_estimation]: Detected stage type: 'pose_estimation' [ INFO] [1658306035.521267874]: STAGE_NODE [pose_estimation]: : Loading camera from path: /home/sirope/SourceCode/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/camera/calib.yaml [ INFO] [1658306035.521343620]: STAGE_NODE [pose_estimation]: : Detected camera model: 'pinhole' [ INFO] [1658306035.521355176]: STAGE_NODE [pose_estimation]: : Loading vslam settings from path: /home/sirope/SourceCode/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/pose_estimation/method/open_vslam_settings.yaml [ INFO] [1658306035.521397945]: STAGE_NODE [pose_estimation]: : Detected vslam type: 'OPEN_VSLAM' 2022-07-20 16:33:55.521 ( 0.014s) [ E3910000] pose_estimation.cpp:40 0| Stage [pose_estimation]: Created Stage with Settings:

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

[2022-07-20 16:33:55.521] [info] config file loaded: terminate called after throwing an instance of 'YAML::InvalidNode' what(): invalid node; this may result from using a map iterator as a sequence iterator, or vice-versa [ INFO] [1658306035.522831585]: 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] [1658306035.523947401]: STAGE_NODE [surface_generation]: Loading stage settings from path: /home/sirope/SourceCode/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/surface_generation/stage_settings.yaml [ INFO] [1658306035.524781407]: STAGE_NODE [surface_generation]: Detected stage type: 'surface_generation' [ INFO] [1658306035.527604429]: Scanning input image for provided meta tags...

[ WARN] [1658306035.527934613]: [NOT FOUND] 'Xmp.exif.REALM.Timestamp' [ INFO] [1658306035.527955755]: Image #0, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0000.jpg [ INFO] [1658306035.528631134]: STAGE_NODE [ortho_rectification]: Loading stage settings from path: /home/sirope/SourceCode/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/ortho_rectification/stage_settings.yaml [ INFO] [1658306035.529603235]: STAGE_NODE [ortho_rectification]: Detected stage type: 'ortho_rectification' [ INFO] [1658306035.530318175]: STAGE_NODE [surface_generation]: : Loading camera from path: /home/sirope/SourceCode/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/camera/calib.yaml [ INFO] [1658306035.530424005]: STAGE_NODE [surface_generation]: : Detected camera model: 'pinhole' [ INFO] [1658306035.532232039]: STAGE_NODE [surface_generation]: Started stage node successfully! 2022-07-20 16:33:55.532 ( 0.020s) [Stage [surface_g] worker_thread_base.cpp:43 0| Thread 'Stage [surface_generation]' starting loop... [ INFO] [1658306035.535227070]: STAGE_NODE [ortho_rectification]: : Loading camera from path: /home/sirope/SourceCode/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/camera/calib.yaml [ INFO] [1658306035.535305601]: STAGE_NODE [ortho_rectification]: : Detected camera model: 'pinhole' Stage [ortho_rectification]: Created Stage with Settings:

[save_elevation_angle]: 0 [save_ortho_rgb]: 0 [save_valid]: 0 [publish_pointcloud]: 0 [GSD]: 0.1 [save_elevation]: 0 [path_output]: [save_ortho_gtiff]: 0 [queue_size]: 5 [log_to_file]: 1 [type]: ortho_rectification [ INFO] [1658306035.536201332]: STAGE_NODE [ortho_rectification]: Started stage node successfully! 2022-07-20 16:33:55.536 ( 0.019s) [Stage [ortho_rec] worker_thread_base.cpp:43 0| Thread 'Stage [ortho_rectification]' starting loop... [ INFO] [1658306035.536630296]: STAGE_NODE [mosaicing]: Loading stage settings from path: /home/sirope/SourceCode/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/mosaicing/stage_settings.yaml [ INFO] [1658306035.537092126]: STAGE_NODE [mosaicing]: Detected stage type: 'mosaicing' [ INFO] [1658306035.540167187]: STAGE_NODE [mosaicing]: : Loading camera from path: /home/sirope/SourceCode/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/camera/calib.yaml [ INFO] [1658306035.540243116]: STAGE_NODE [mosaicing]: : Detected camera model: 'pinhole' Stage [mosaicing]: Created Stage with Settings: [save_num_obs_one]: 1 [save_elevation_obs_angle_all]: 0 [save_elevation_obs_angle_one]: 1 [save_elevation_var_one]: 0 [save_elevation_one]: 1 [save_ortho_gtiff_all]: 0 [save_dense_ply]: 1 [save_num_obs_all]: 0 [save_ortho_gtiff_one]: 1 [type]: mosaicing [log_to_file]: 1 [queue_size]: 5 [downsample_publish_mesh]: 0.5 [th_elevation_min_nobs]: 2 [save_elevation_var_all]: 0 [th_elevation_variance]: 1 [path_output]: [save_elevation_mesh_one]: 0 [publish_mesh_every_nth_kf]: 0 [publish_mesh_at_finish]: 1 [split_gtiff_channels]: 0 [save_elevation_all]: 0 [save_ortho_rgb_one]: 1 [save_valid]: 0 [save_ortho_rgb_all]: 0 [ INFO] [1658306035.541235747]: STAGE_NODE [mosaicing]: Started stage node successfully! 2022-07-20 16:33:55.541 ( 0.015s) [Stage [mosaicing] worker_thread_base.cpp:43 0| Thread 'Stage [mosaicing]' starting loop... [ INFO] [1658306035.628187859]: Image #1, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0001.jpg [realm_pose_estimation-3] process has died [pid 40143, exit code -6, cmd /home/sirope/SourceCode/OpenREALM/catkin_ws/devel/lib/realm_ros/realm_stage_node __name:=realm_pose_estimation __log:=/home/sirope/.ros/log/b0fa8658-0806-11ed-bba5-17ed01860011/realm_pose_estimation-3.log]. log file: /home/sirope/.ros/log/b0fa8658-0806-11ed-bba5-17ed01860011/realm_pose_estimation-3*.log [ INFO] [1658306035.728340007]: Image #2, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0002.jpg [ INFO] [1658306035.828527950]: Image #3, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0003.jpg [ INFO] [1658306035.928716375]: Image #4, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0004.jpg [ INFO] [1658306036.028871192]: Image #5, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0005.jpg [ INFO] [1658306036.129023137]: Image #6, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0006.jpg [ INFO] [1658306036.229386737]: Image #7, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0007.jpg [ INFO] [1658306036.329641969]: Image #8, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0008.jpg [ INFO] [1658306036.430049655]: Image #9, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0009.jpg [ INFO] [1658306036.530511937]: Image #10, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0010.jpg [ INFO] [1658306036.633916219]: Image #11, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0011.jpg [ INFO] [1658306036.734167205]: Image #12, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0012.jpg [ INFO] [1658306036.834381002]: Image #13, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0013.jpg [ INFO] [1658306036.934637609]: Image #14, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0014.jpg [ INFO] [1658306037.034951447]: Image #15, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0015.jpg [ INFO] [1658306037.135181163]: Image #16, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0016.jpg [ INFO] [1658306037.236101033]: Image #17, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0017.jpg [ INFO] [1658306037.336470873]: Image #18, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0018.jpg [ INFO] [1658306037.436694378]: Image #19, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0019.jpg [ INFO] [1658306037.536952899]: Image #20, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0020.jpg [ INFO] [1658306037.637237622]: Image #21, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0021.jpg [ INFO] [1658306037.737528990]: Image #22, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0022.jpg [ INFO] [1658306037.837735791]: Image #23, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0023.jpg [ INFO] [1658306037.938020038]: Image #24, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0024.jpg [ INFO] [1658306038.043601440]: Image #25, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0025.jpg [ INFO] [1658306038.143881330]: Image #26, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0026.jpg [ INFO] [1658306038.244076294]: Image #27, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0027.jpg [ INFO] [1658306038.344323147]: Image #28, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0028.jpg [ INFO] [1658306038.444758482]: Image #29, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0029.jpg [ INFO] [1658306038.544998161]: Image #30, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0030.jpg [ INFO] [1658306038.645533250]: Image #31, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0031.jpg [ INFO] [1658306038.745676843]: Image #32, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0032.jpg [ INFO] [1658306038.845953287]: Image #33, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0033.jpg [ INFO] [1658306038.946444969]: Image #34, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0034.jpg [ INFO] [1658306039.046825003]: Image #35, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0035.jpg [ INFO] [1658306039.147366247]: Image #36, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0036.jpg [ INFO] [1658306039.247837382]: Image #37, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0037.jpg [ INFO] [1658306039.348962415]: Image #38, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0038.jpg [ INFO] [1658306039.449809985]: Image #39, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0039.jpg [ INFO] [1658306039.550191706]: Image #40, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0040.jpg [ INFO] [1658306039.650699972]: Image #41, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0041.jpg [ INFO] [1658306039.751108932]: Image #42, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0042.jpg [ INFO] [1658306039.851400824]: Image #43, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0043.jpg [ INFO] [1658306039.951703346]: Image #44, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0044.jpg [ INFO] [1658306040.052935162]: Image #45, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0045.jpg [ INFO] [1658306040.153778543]: Image #46, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0046.jpg ^C[rviz-7] killing on exit [realm_mosaicing-6] killing on exit [ INFO] [1658306040.254277434]: Image #47, image Path: //home/sirope/Datasets/open_realm_edm_dataset/edm_big_overlap_50p/img_0047.jpg [realm_ortho_rectification-5] killing on exit [realm_surface_generation-4] killing on exit [realm_exiv2_grabber-2] killing on exit 2022-07-20 16:34:00.402 ( 4.890s) [ 2087000] worker_thread_base.cpp:129 0| Thread 'Stage [surface_generation]' received finish request... ^C2022-07-20 16:34:00.441 ( 4.930s) [Stage [surface_g] worker_thread_base.cpp:101 0| Thread 'Stage [surface_generation]' finished! QFileSystemWatcher::removePaths: list is empty QFileSystemWatcher::removePaths: list is empty 2022-07-20 16:34:00.531 ( 5.005s) [ C41E2000] worker_thread_base.cpp:129 0| Thread 'Stage [mosaicing]' received finish request...
Ahmad-Drak commented 2 years ago

This might be related to the grid_map? maybe this helps https://github.com/ANYbotics/grid_map#iterators

wuxiangchao commented 2 years ago

This might be related to the grid_map? maybe this helps https://github.com/ANYbotics/grid_map#iterators

Thanks, let me try.

laxnpander commented 2 years ago

@wuxiangchao Hey, did you find a solution to your problem? First of all the error indicates it is related to the yaml parser. Here I use opencv, so this is not related to OpenREALM directly. What happens very often is that ROS and OpenREALM link to different versions of opencv. Please make sure both use the same version. This can be tricky sometimes as cmake can be a pain in this regard. What works best is having only the ros opencv version. So remove all custom opencv installs from your computer.

laxnpander commented 2 years ago

@wuxiangchao Reopen if problem persists.