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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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alexa_noreco.launch and alexa_reco.launch #79

Closed pyn1998 closed 1 year ago

pyn1998 commented 1 year ago

hi @laxnpander ,really impressived to see your amazing work ,it helps me a lot! Now i have run all gnss/reco/noreco launch file with your test dataset ,and they look great.When i use my own dataset ,it worked well in alexa_gnss.launch,however there are no ortho results showed in alexa_noreco.launch and alexa_reco.launch.Would you please help me check if I have done something wrong? Here are the terminal outputs:

... logging to /home/pyn/.ros/log/9580b374-6ebe-11ed-abd3-fc4482124945/roslaunch-pyn-XPS-8940-17788.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://pyn-XPS-8940:42293/

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 [18038] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 9580b374-6ebe-11ed-abd3-fc4482124945 process[rosout-1]: started with pid [18073] started core service [/rosout] process[realm_exiv2_grabber-2]: started with pid [18076] process[realm_pose_estimation-3]: started with pid [18077] process[realm_surface_generation-4]: started with pid [18078] process[realm_ortho_rectification-5]: started with pid [18079] process[realm_mosaicing-6]: started with pid [18080] process[rviz-7]: started with pid [18084] [ INFO] [1669600041.136448059]: STAGE_NODE [ortho_rectification]: Loading stage settings from path: [ INFO] [1669600041.136447757]: STAGE_NODE [mosaicing]: Loading stage settings from path: /home/pyn/openREALM/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/ortho_rectification/stage_settings.yaml /home/pyn/openREALM/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/mosaicing/stage_settings.yaml [ INFO] [1669600041.137005181]: STAGE_NODE [surface_generation]: Loading stage settings from path: /home/pyn/openREALM/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/surface_generation/stage_settings.yaml [ INFO] [1669600041.166828594]: STAGE_NODE [pose_estimation]: Loading stage settings from path: /home/pyn/openREALM/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/pose_estimation/stage_settings.yaml [ INFO] [1669600041.174912744]: STAGE_NODE [pose_estimation]: Detected stage type: 'pose_estimation' [ INFO] [1669600041.177325672]: STAGE_NODE [pose_estimation]: : Loading camera from path: /home/pyn/openREALM/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/camera/calib.yaml [ INFO] [1669600041.188608542]: STAGE_NODE [pose_estimation]: : Detected camera model: 'pinhole' [ INFO] [1669600041.188645782]: STAGE_NODE [pose_estimation]: : Loading vslam settings from path: /home/pyn/openREALM/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/pose_estimation/method/open_vslam_settings.yaml [ INFO] [1669600041.194812236]: STAGE_NODE [pose_estimation]: : Detected vslam type: 'OPEN_VSLAM' [ INFO] [1669600041.196840973]: STAGE_NODE [surface_generation]: Detected stage type: 'surface_generation' 2022-11-28 09:47:21.201 ( 0.173s) [ 4F00C000] 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

[2022-11-28 09:47:21.202] [info] config file loaded: [ INFO] [1669600041.210749242]: STAGE_NODE [ortho_rectification]: Detected stage type: 'ortho_rectification' [ INFO] [1669600041.211861980]: STAGE_NODE [mosaicing]: Detected stage type: 'mosaicing' [ INFO] [1669600041.214893274]: STAGE_NODE [surface_generation]: : Loading camera from path: /home/pyn/openREALM/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/camera/calib.yaml [ INFO] [1669600041.214952993]: STAGE_NODE [surface_generation]: : Detected camera model: 'pinhole' [ INFO] [1669600041.216041173]: STAGE_NODE [surface_generation]: Started stage node successfully! 2022-11-28 09:47:21.216 ( 0.188s) [Stage [surface_g] worker_thread_base.cpp:43 0| Thread 'Stage [surface_generation]' starting loop... [ INFO] [1669600041.219831823]: STAGE_NODE [ortho_rectification]: : Loading camera from path: /home/pyn/openREALM/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/camera/calib.yaml [ INFO] [1669600041.219897726]: STAGE_NODE [ortho_rectification]: : Detected camera model: 'pinhole' [ INFO] [1669600041.219929614]: STAGE_NODE [mosaicing]: : Loading camera from path: /home/pyn/openREALM/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/camera/calib.yaml 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] [1669600041.220023917]: STAGE_NODE [mosaicing]: : Detected camera model: 'pinhole' Stage [mosaicing]: Created Stage with Settings: [save_num_obs_all]: 0 [save_num_obs_one]: 1 [save_elevation_mesh_one]: 0 [save_elevation_obs_angle_all]: 0 [save_elevation_obs_angle_one]: 1 [save_elevation_var_all]: 0 [save_elevation_all]: 0 [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] [1669600041.221020064]: STAGE_NODE [ortho_rectification]: Started stage node successfully! 2022-11-28 09:47:21.221 ( 0.192s) [Stage [ortho_rec] worker_thread_base.cpp:43 0| Thread 'Stage [ortho_rectification]' starting loop... [ INFO] [1669600041.221625637]: STAGE_NODE [mosaicing]: Started stage node successfully! 2022-11-28 09:47:21.221 ( 0.193s) [Stage [mosaicing] worker_thread_base.cpp:43 0| Thread 'Stage [mosaicing]' starting loop... [2022-11-28 09:47:23.083] [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: name: cam setup: monocular k1: -0.198806 k2: 0.122544 p1: -0.000221 p2: -0.000877 k3: 0 fps: 0.5 cols: 5472 rows: 3648 color_order: RGB fx: 4459.4 fy: 4459.4 cx: 2736 cy: 1824 model: perspective 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 [2022-11-28 09:47:23.083] [info] loading ORB vocabulary: /home/pyn/openREALM/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/pose_estimation/method/open_vslam/orb_vocab.fbow [ INFO] [1669600043.276237346]: Exiv2 Grabber Node [Ankommen]: Successfully loaded camera: cx = 2736 cy = 1824 fx = 4459.4 fy = 4459.4 k1 = -0.198806 k2 = 0.122544 p1 = -0.000221 p2 = -0.000877 [ INFO] [1669600043.378491703]: Scanning input image for provided meta tags... [ INFO] [1669600043.666692925]: [FOUND] 'Exif.GPSInfo.GPSAltitude' [ INFO] [1669600043.666716232]: [FOUND] 'Exif.GPSInfo.GPSLatitude' [ INFO] [1669600043.666720486]: [FOUND] 'Exif.GPSInfo.GPSLatitudeRef' [ INFO] [1669600043.666724190]: [FOUND] 'Exif.GPSInfo.GPSLongitude' [ INFO] [1669600043.666727714]: [FOUND] 'Exif.GPSInfo.GPSLongitudeRef' [ INFO] [1669600043.666748674]: [FOUND] 'Exif.Image.Model' [ WARN] [1669600043.666753503]: [NOT FOUND] 'Xmp.exif.REALM.Heading' [ WARN] [1669600043.666758971]: [NOT FOUND] 'Xmp.exif.REALM.Timestamp' [ INFO] [1669600043.666776597]: Image #0, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0000.jpg [2022-11-28 09:47:23.810] [info] startup SLAM system [2022-11-28 09:47:23.810] [info] start mapping module 2022-11-28 09:47:23.810 ( 2.782s) [ 4F00C000] pose_estimation.cpp:99 0| Evaluating fallback strategy... 2022-11-28 09:47:23.810 ( 2.782s) [ 4F00C000] pose_estimation.cpp:109 0| Selected: NEVER - Image projection will not be used. [2022-11-28 09:47:23.810] [info] start global optimization module 2022-11-28 09:47:23.813 ( 2.785s) [ 4F00C000] loguru.h:2056 0| Logging to '/home/pyn/openREALM/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/22-11-28_09-47-21/pose_estimation/stage.log', mode: 'a', verbosity: 9 2022-11-28 09:47:23.813 ( 2.785s) [ 4F00C000] stage_base.cpp:42 0| Successfully initialized! 2022-11-28 09:47:23.813 ( 2.785s) [ 4F00C000] stage_base.cpp:43 0| Stage path set to: /home/pyn/openREALM/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/22-11-28_09-47-21/pose_estimation 2022-11-28 09:47:23.813 ( 2.785s) [ 4F00C000] pose_estimation.cpp:396 0| ### Stage process settings ### 2022-11-28 09:47:23.813 ( 2.785s) [ 4F00C000] pose_estimation.cpp:397 0| - use_vslam: 1 2022-11-28 09:47:23.813 ( 2.785s) [ 4F00C000] pose_estimation.cpp:398 0| - use_fallback: 0 2022-11-28 09:47:23.813 ( 2.785s) [ 4F00C000] pose_estimation.cpp:399 0| - do_update_georef: 0 2022-11-28 09:47:23.813 ( 2.785s) [ 4F00C000] pose_estimation.cpp:400 0| - do_suppress_outdated_pose_pub: 0 2022-11-28 09:47:23.813 ( 2.785s) [ 4F00C000] pose_estimation.cpp:401 0| - th_error_georef: 1.00 2022-11-28 09:47:23.813 ( 2.785s) [ 4F00C000] pose_estimation.cpp:402 0| - min_nrof_frames_georef: 5 2022-11-28 09:47:23.813 ( 2.785s) [ 4F00C000] pose_estimation.cpp:403 0| - init_lost_frames_reset_count: 15f 2022-11-28 09:47:23.813 ( 2.785s) [ 4F00C000] pose_estimation.cpp:404 0| - overlap_max: 100.00 2022-11-28 09:47:23.813 ( 2.785s) [ 4F00C000] pose_estimation.cpp:405 0| - overlap_max_fallback: 95.00 2022-11-28 09:47:23.813 ( 2.785s) [ 4F00C000] pose_estimation.cpp:407 0| ### Stage save settings ### 2022-11-28 09:47:23.813 ( 2.785s) [ 4F00C000] pose_estimation.cpp:408 0| - save_trajectory_gnss: 1 2022-11-28 09:47:23.813 ( 2.785s) [ 4F00C000] pose_estimation.cpp:409 0| - save_trajectory_visual: 1 2022-11-28 09:47:23.813 ( 2.785s) [ 4F00C000] pose_estimation.cpp:410 0| - save_frames: 0 2022-11-28 09:47:23.813 ( 2.785s) [ 4F00C000] pose_estimation.cpp:411 0| - save_keyframes: 0 2022-11-28 09:47:23.813 ( 2.785s) [ 4F00C000] pose_estimation.cpp:412 0| - save_keyframes_full: 0 [ INFO] [1669600043.813345779]: STAGE_NODE [pose_estimation]: Started stage node successfully! 2022-11-28 09:47:23.813 ( 2.785s) [Stage [pose_esti] worker_thread_base.cpp:43 0| Thread 'Stage [pose_estimation]' starting loop... 2022-11-28 09:47:23.816 ( 2.788s) [ 87C15000] loguru.h:2056 0| Logging to '/home/pyn/openREALM/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/22-11-28_09-47-21/surface_generation/stage.log', mode: 'a', verbosity: 9 2022-11-28 09:47:23.816 ( 2.788s) [ 87C15000] stage_base.cpp:42 0| Successfully initialized! 2022-11-28 09:47:23.816 ( 2.788s) [ 87C15000] stage_base.cpp:43 0| Stage path set to: /home/pyn/openREALM/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/22-11-28_09-47-21/surface_generation 2022-11-28 09:47:23.816 ( 2.788s) [ 87C15000] surface_generation.cpp:165 0| ### Stage process settings ### 2022-11-28 09:47:23.816 ( 2.788s) [ 87C15000] surface_generation.cpp:166 0| - try_use_elevation: 1 2022-11-28 09:47:23.816 ( 2.788s) [ 87C15000] surface_generation.cpp:167 0| - compute_all_frames: 0 2022-11-28 09:47:23.816 ( 2.788s) [ 87C15000] surface_generation.cpp:168 0| - mode_surface_normals: 0 2022-11-28 09:47:23.816 ( 2.788s) [ 87C15000] surface_generation.cpp:170 0| ### Stage save settings ### 2022-11-28 09:47:23.816 ( 2.788s) [ 87C15000] surface_generation.cpp:171 0| - save_elevation: 0 2022-11-28 09:47:23.816 ( 2.788s) [ 87C15000] surface_generation.cpp:172 0| - save_normals: 0 [ INFO] [1669600043.816262110]: STAGE_NODE [surface_generation]: Received output directory, set to: /home/pyn/openREALM/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/22-11-28_09-47-21 2022-11-28 09:47:23.821 ( 2.793s) [ 1D5F0000] loguru.h:2056 0| Logging to '/home/pyn/openREALM/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/22-11-28_09-47-21/ortho_rectification/stage.log', mode: 'a', verbosity: 9 2022-11-28 09:47:23.821 ( 2.793s) [ 1D5F0000] stage_base.cpp:42 0| Successfully initialized! 2022-11-28 09:47:23.821 ( 2.793s) [ 1D5F0000] stage_base.cpp:43 0| Stage path set to: /home/pyn/openREALM/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/22-11-28_09-47-21/ortho_rectification 2022-11-28 09:47:23.821 ( 2.793s) [ 1D5F0000]ortho_rectification.cpp:195 0| ### Stage process settings ### 2022-11-28 09:47:23.821 ( 2.793s) [ 1D5F0000]ortho_rectification.cpp:196 0| - GSD: 0.10 2022-11-28 09:47:23.821 ( 2.793s) [ 1D5F0000]ortho_rectification.cpp:197 0| - publish_pointcloud: 0 2022-11-28 09:47:23.821 ( 2.793s) [ 1D5F0000]ortho_rectification.cpp:199 0| ### Stage save settings ### 2022-11-28 09:47:23.821 ( 2.793s) [ 1D5F0000]ortho_rectification.cpp:200 0| - save_ortho_rgb: 0 2022-11-28 09:47:23.821 ( 2.793s) [ 1D5F0000]ortho_rectification.cpp:201 0| - save_ortho_gtiff: 0 2022-11-28 09:47:23.821 ( 2.793s) [ 1D5F0000]ortho_rectification.cpp:202 0| - save_elevation: 0 2022-11-28 09:47:23.821 ( 2.793s) [ 1D5F0000]ortho_rectification.cpp:203 0| - save_elevation_angle: 0 [ INFO] [1669600043.821288957]: STAGE_NODE [ortho_rectification]: Received output directory, set to: /home/pyn/openREALM/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/22-11-28_09-47-21 2022-11-28 09:47:23.821 ( 2.793s) [ 8936D000] loguru.h:2056 0| Logging to '/home/pyn/openREALM/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/22-11-28_09-47-21/mosaicing/stage.log', mode: 'a', verbosity: 9 2022-11-28 09:47:23.821 ( 2.793s) [ 8936D000] stage_base.cpp:42 0| Successfully initialized! 2022-11-28 09:47:23.821 ( 2.793s) [ 8936D000] stage_base.cpp:43 0| Stage path set to: /home/pyn/openREALM/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/22-11-28_09-47-21/mosaicing 2022-11-28 09:47:23.821 ( 2.793s) [ 8936D000] mosaicing.cpp:346 0| ### Stage process settings ### 2022-11-28 09:47:23.821 ( 2.793s) [ 8936D000] mosaicing.cpp:347 0| - publish_mesh_nth_iter: 0 2022-11-28 09:47:23.821 ( 2.793s) [ 8936D000] mosaicing.cpp:348 0| - publish_mesh_every_nth_kf: 0 2022-11-28 09:47:23.821 ( 2.793s) [ 8936D000] mosaicing.cpp:349 0| - do_publish_mesh_at_finish: 1 2022-11-28 09:47:23.821 ( 2.793s) [ 8936D000] mosaicing.cpp:350 0| - downsample_publish_mesh: 0.50 2022-11-28 09:47:23.821 ( 2.793s) [ 8936D000] mosaicing.cpp:351 0| - use_surface_normals: 1 2022-11-28 09:47:23.821 ( 2.793s) [ 8936D000] mosaicing.cpp:352 0| - th_elevation_min_nobs: 2 2022-11-28 09:47:23.821 ( 2.793s) [ 8936D000] mosaicing.cpp:353 0| - th_elevation_var: 1.00 2022-11-28 09:47:23.821 ( 2.793s) [ 8936D000] mosaicing.cpp:355 0| ### Stage save settings ### 2022-11-28 09:47:23.821 ( 2.793s) [ 8936D000] mosaicing.cpp:356 0| - save_ortho_rgb_one: 1 2022-11-28 09:47:23.821 ( 2.793s) [ 8936D000] mosaicing.cpp:357 0| - save_ortho_rgb_all: 0 2022-11-28 09:47:23.822 ( 2.793s) [ 8936D000] mosaicing.cpp:358 0| - save_ortho_gtiff_one: 1 2022-11-28 09:47:23.822 ( 2.793s) [ 8936D000] mosaicing.cpp:359 0| - save_ortho_gtiff_all: 0 2022-11-28 09:47:23.822 ( 2.793s) [ 8936D000] mosaicing.cpp:360 0| - save_elevation_one: 1 2022-11-28 09:47:23.822 ( 2.793s) [ 8936D000] mosaicing.cpp:361 0| - save_elevation_all: 0 2022-11-28 09:47:23.822 ( 2.793s) [ 8936D000] mosaicing.cpp:362 0| - save_elevation_var_one: 0 2022-11-28 09:47:23.822 ( 2.793s) [ 8936D000] mosaicing.cpp:363 0| - save_elevation_var_all: 0 2022-11-28 09:47:23.822 ( 2.793s) [ 8936D000] mosaicing.cpp:364 0| - save_elevation_obs_angle_one: 1 2022-11-28 09:47:23.822 ( 2.793s) [ 8936D000] mosaicing.cpp:365 0| - save_elevation_obs_angle_all: 0 2022-11-28 09:47:23.822 ( 2.793s) [ 8936D000] mosaicing.cpp:366 0| - save_elevation_mesh_one: 0 2022-11-28 09:47:23.822 ( 2.793s) [ 8936D000] mosaicing.cpp:367 0| - save_num_obs_one: 1 2022-11-28 09:47:23.822 ( 2.793s) [ 8936D000] mosaicing.cpp:368 0| - save_num_obs_all: 0 2022-11-28 09:47:23.822 ( 2.793s) [ 8936D000] mosaicing.cpp:369 0| - save_dense_ply: 1 [ INFO] [1669600043.822126135]: STAGE_NODE [mosaicing]: Received output directory, set to: /home/pyn/openREALM/OpenREALM/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/22-11-28_09-47-21 [ INFO] [1669600044.840295944]: Image #1, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0001.jpg [ INFO] [1669600044.846368294]: STAGE_NODE [pose_estimation]: Received frame. [ INFO] [1669600045.081085080]: STAGE_NODE [pose_estimation]: Frame reference set at: 22.446927, 113.520520 2022-11-28 09:47:25.081 ( 4.053s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 10.00% 2022-11-28 09:47:25.081 ( 4.053s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:25.081 ( 4.053s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #0, timestamp: 1669600044685 [ INFO] [1669600045.644456785]: Image #2, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0002.jpg [ INFO] [1669600045.654249919]: STAGE_NODE [pose_estimation]: Received frame. 2022-11-28 09:47:26.355 ( 5.326s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 2022-11-28 09:47:26.355 ( 5.327s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 1.275 s: track 2022-11-28 09:47:26.355 ( 5.327s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 1274 ms 2022-11-28 09:47:26.355 ( 5.327s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 10.00% 2022-11-28 09:47:26.355 ( 5.327s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:26.355 ( 5.327s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #1, timestamp: 1669600045497 [ INFO] [1669600046.356302055]: STAGE_NODE [pose_estimation]: Received frame. [ INFO] [1669600046.357237584]: Image #3, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0003.jpg 2022-11-28 09:47:26.810 ( 5.782s) [Publisher [pose_] pose_estimation.cpp:651 0| . Publishing pose of frame #0... 2022-11-28 09:47:27.075 ( 6.047s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 2022-11-28 09:47:27.075 ( 6.047s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 0.720 s: track 2022-11-28 09:47:27.075 ( 6.047s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 720 ms 2022-11-28 09:47:27.075 ( 6.047s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 10.00% 2022-11-28 09:47:27.075 ( 6.047s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:27.075 ( 6.047s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #2, timestamp: 1669600046211 [ INFO] [1669600047.466248947]: Image #4, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0004.jpg [ INFO] [1669600047.469479701]: STAGE_NODE [pose_estimation]: Received frame. 2022-11-28 09:47:27.812 ( 6.784s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 2022-11-28 09:47:27.812 ( 6.784s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 0.737 s: track 2022-11-28 09:47:27.812 ( 6.784s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 737 ms 2022-11-28 09:47:27.812 ( 6.784s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 10.00% 2022-11-28 09:47:27.812 ( 6.784s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:27.812 ( 6.784s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #3, timestamp: 1669600047318 2022-11-28 09:47:27.819 ( 6.791s) [Publisher [pose_] pose_estimation.cpp:651 0| . Publishing pose of frame #1... [ INFO] [1669600048.138568836]: Image #5, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0005.jpg [ INFO] [1669600048.145277443]: STAGE_NODE [pose_estimation]: Received frame. 2022-11-28 09:47:28.587 ( 7.559s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 2022-11-28 09:47:28.588 ( 7.559s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 0.776 s: track 2022-11-28 09:47:28.588 ( 7.559s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 776 ms 2022-11-28 09:47:28.588 ( 7.559s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 10.00% 2022-11-28 09:47:28.588 ( 7.559s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:28.588 ( 7.559s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #4, timestamp: 1669600047984 2022-11-28 09:47:28.830 ( 7.802s) [Publisher [pose_] pose_estimation.cpp:651 0| . Publishing pose of frame #2... 2022-11-28 09:47:29.272 ( 8.243s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 2022-11-28 09:47:29.272 ( 8.244s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 0.684 s: track 2022-11-28 09:47:29.272 ( 8.244s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 684 ms [ INFO] [1669600049.331269927]: Image #6, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0006.jpg [ INFO] [1669600049.337984053]: STAGE_NODE [pose_estimation]: Received frame. 2022-11-28 09:47:29.579 ( 8.551s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 10.00% 2022-11-28 09:47:29.579 ( 8.551s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:29.579 ( 8.551s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #5, timestamp: 1669600049181 2022-11-28 09:47:29.836 ( 8.808s) [Publisher [pose_] pose_estimation.cpp:651 0| . Publishing pose of frame #3... 2022-11-28 09:47:30.301 ( 9.273s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 2022-11-28 09:47:30.302 ( 9.273s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 0.723 s: track 2022-11-28 09:47:30.302 ( 9.273s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 723 ms [ INFO] [1669600050.530978419]: STAGE_NODE [pose_estimation]: Received frame. [ INFO] [1669600050.531376873]: Image #7, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0007.jpg 2022-11-28 09:47:30.769 ( 9.741s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 10.00% 2022-11-28 09:47:30.769 ( 9.741s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:30.769 ( 9.741s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #6, timestamp: 1669600050378 2022-11-28 09:47:30.843 ( 9.815s) [Publisher [pose_] pose_estimation.cpp:651 0| . Publishing pose of frame #4... 2022-11-28 09:47:31.201 ( 10.173s) [ F111E700] stage_base.cpp:103 0| . { Stage [pose_estimation] statistics 2022-11-28 09:47:31.201 ( 10.173s) [ F111E700] stage_base.cpp:104 0| . . Total frames: 7 2022-11-28 09:47:31.201 ( 10.173s) [ F111E700] stage_base.cpp:105 0| . . Processed frames: 7 2022-11-28 09:47:31.201 ( 10.173s) [ F111E700] stage_base.cpp:106 0| . . Bad frames: 0 2022-11-28 09:47:31.201 ( 10.173s) [ F111E700] stage_base.cpp:107 0| . . Dropped frames: 0 2022-11-28 09:47:31.201 ( 10.173s) [ F111E700] stage_base.cpp:108 0| . . Fps in: 0.00 2022-11-28 09:47:31.201 ( 10.173s) [ F111E700] stage_base.cpp:109 0| . . Fps out: 0.00 2022-11-28 09:47:31.201 ( 10.173s) [ F111E700] stage_base.cpp:103 0| . } 0.000 s: Stage [pose_estimation] statistics 2022-11-28 09:47:31.215 ( 10.187s) [ 29526700] stage_base.cpp:103 0| { Stage [surface_generation] statistics 2022-11-28 09:47:31.215 ( 10.187s) [ 29526700] stage_base.cpp:104 0| . Total frames: 0 2022-11-28 09:47:31.215 ( 10.187s) [ 29526700] stage_base.cpp:105 0| . Processed frames: 0 2022-11-28 09:47:31.215 ( 10.187s) [ 29526700] stage_base.cpp:106 0| . Bad frames: 0 2022-11-28 09:47:31.215 ( 10.187s) [ 29526700] stage_base.cpp:107 0| . Dropped frames: 0 2022-11-28 09:47:31.215 ( 10.187s) [ 29526700] stage_base.cpp:108 0| . Fps in: 0.00 2022-11-28 09:47:31.215 ( 10.187s) [ 29526700] stage_base.cpp:109 0| . Fps out: 0.00 2022-11-28 09:47:31.215 ( 10.187s) [ 29526700] stage_base.cpp:103 0| } 0.000 s: Stage [surface_generation] statistics 2022-11-28 09:47:31.220 ( 10.191s) [ BADE3700] stage_base.cpp:103 0| { Stage [ortho_rectification] statistics 2022-11-28 09:47:31.220 ( 10.191s) [ BADE3700] stage_base.cpp:104 0| . Total frames: 0 2022-11-28 09:47:31.220 ( 10.192s) [ BADE3700] stage_base.cpp:105 0| . Processed frames: 0 2022-11-28 09:47:31.220 ( 10.192s) [ BADE3700] stage_base.cpp:106 0| . Bad frames: 0 2022-11-28 09:47:31.220 ( 10.192s) [ BADE3700] stage_base.cpp:107 0| . Dropped frames: 0 2022-11-28 09:47:31.220 ( 10.192s) [ BADE3700] stage_base.cpp:108 0| . Fps in: 0.00 2022-11-28 09:47:31.220 ( 10.192s) [ BADE3700] stage_base.cpp:109 0| . Fps out: 0.00 2022-11-28 09:47:31.220 ( 10.192s) [ BADE3700] stage_base.cpp:103 0| } 0.000 s: Stage [ortho_rectification] statistics 2022-11-28 09:47:31.220 ( 10.192s) [ 26BD7700] stage_base.cpp:103 0| { Stage [mosaicing] statistics 2022-11-28 09:47:31.220 ( 10.192s) [ 26BD7700] stage_base.cpp:104 0| . Total frames: 0 2022-11-28 09:47:31.220 ( 10.192s) [ 26BD7700] stage_base.cpp:105 0| . Processed frames: 0 2022-11-28 09:47:31.220 ( 10.192s) [ 26BD7700] stage_base.cpp:106 0| . Bad frames: 0 2022-11-28 09:47:31.220 ( 10.192s) [ 26BD7700] stage_base.cpp:107 0| . Dropped frames: 0 2022-11-28 09:47:31.220 ( 10.192s) [ 26BD7700] stage_base.cpp:108 0| . Fps in: 0.00 2022-11-28 09:47:31.220 ( 10.192s) [ 26BD7700] stage_base.cpp:109 0| . Fps out: 0.00 2022-11-28 09:47:31.220 ( 10.192s) [ 26BD7700] stage_base.cpp:103 0| } 0.000 s: Stage [mosaicing] statistics [ INFO] [1669600051.329640747]: Image #8, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0008.jpg [ INFO] [1669600051.331009235]: STAGE_NODE [pose_estimation]: Received frame. 2022-11-28 09:47:31.495 ( 10.466s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 2022-11-28 09:47:31.495 ( 10.467s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 0.726 s: track 2022-11-28 09:47:31.495 ( 10.467s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 726 ms 2022-11-28 09:47:31.570 ( 10.542s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 10.00% 2022-11-28 09:47:31.570 ( 10.542s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:31.570 ( 10.542s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #7, timestamp: 1669600051181 2022-11-28 09:47:31.849 ( 10.821s) [Publisher [pose_] pose_estimation.cpp:651 0| . Publishing pose of frame #5... 2022-11-28 09:47:32.260 ( 11.232s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 2022-11-28 09:47:32.260 ( 11.232s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 0.690 s: track 2022-11-28 09:47:32.260 ( 11.232s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 690 ms [ INFO] [1669600052.636833299]: Image #9, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0009.jpg [ INFO] [1669600052.641501235]: STAGE_NODE [pose_estimation]: Received frame. 2022-11-28 09:47:32.856 ( 11.828s) [Publisher [pose_] pose_estimation.cpp:651 0| Publishing pose of frame #6... 2022-11-28 09:47:32.879 ( 11.851s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 10.00% 2022-11-28 09:47:32.879 ( 11.851s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:32.879 ( 11.851s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #8, timestamp: 1669600052489 [ INFO] [1669600053.532837916]: Image #10, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0010.jpg [ INFO] [1669600053.540438962]: STAGE_NODE [pose_estimation]: Received frame. 2022-11-28 09:47:33.597 ( 12.569s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 2022-11-28 09:47:33.597 ( 12.569s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 0.719 s: track 2022-11-28 09:47:33.597 ( 12.569s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 718 ms 2022-11-28 09:47:33.783 ( 12.755s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 10.00% 2022-11-28 09:47:33.783 ( 12.755s) [Stage [pose_esti] pose_estimation.cpp:169 0| Buffer [all, init, publish]: 0, 0, 2 2022-11-28 09:47:33.783 ( 12.755s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:33.783 ( 12.755s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #9, timestamp: 1669600053382 2022-11-28 09:47:33.864 ( 12.835s) [Publisher [pose_] pose_estimation.cpp:651 0| . Publishing pose of frame #7... [ INFO] [1669600054.362349477]: Image #11, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0011.jpg [ INFO] [1669600054.364782710]: STAGE_NODE [pose_estimation]: Received frame. 2022-11-28 09:47:34.547 ( 13.519s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 2022-11-28 09:47:34.547 ( 13.519s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 0.764 s: track 2022-11-28 09:47:34.547 ( 13.519s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 764 ms 2022-11-28 09:47:34.609 ( 13.581s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 10.00% 2022-11-28 09:47:34.609 ( 13.581s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:34.609 ( 13.581s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #10, timestamp: 1669600054213 2022-11-28 09:47:34.870 ( 13.842s) [Publisher [pose_] pose_estimation.cpp:651 0| . Publishing pose of frame #8... [ INFO] [1669600055.217202483]: Image #12, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0012.jpg [ INFO] [1669600055.221071483]: STAGE_NODE [pose_estimation]: Received frame. 2022-11-28 09:47:35.417 ( 14.389s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 2022-11-28 09:47:35.417 ( 14.389s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 0.808 s: track 2022-11-28 09:47:35.417 ( 14.389s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 808 ms 2022-11-28 09:47:35.468 ( 14.440s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 10.00% 2022-11-28 09:47:35.468 ( 14.440s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:35.468 ( 14.440s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #11, timestamp: 1669600055066 2022-11-28 09:47:35.877 ( 14.849s) [Publisher [pose_] pose_estimation.cpp:651 0| . Publishing pose of frame #9... [ INFO] [1669600056.220531214]: Image #13, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0013.jpg [ INFO] [1669600056.229801626]: STAGE_NODE [pose_estimation]: Received frame. 2022-11-28 09:47:36.307 ( 15.279s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 2022-11-28 09:47:36.307 ( 15.279s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 0.839 s: track 2022-11-28 09:47:36.307 ( 15.279s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 839 ms 2022-11-28 09:47:36.478 ( 15.450s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 10.00% 2022-11-28 09:47:36.478 ( 15.450s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:36.478 ( 15.450s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #12, timestamp: 1669600056067 2022-11-28 09:47:36.884 ( 15.856s) [Publisher [pose_] pose_estimation.cpp:651 0| . Publishing pose of frame #10... 2022-11-28 09:47:37.326 ( 16.298s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 2022-11-28 09:47:37.326 ( 16.298s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 0.848 s: track 2022-11-28 09:47:37.326 ( 16.298s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 848 ms [ INFO] [1669600057.389909501]: Image #14, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0014.jpg [ INFO] [1669600057.390229815]: STAGE_NODE [pose_estimation]: Received frame. 2022-11-28 09:47:37.642 ( 16.614s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 10.00% 2022-11-28 09:47:37.642 ( 16.614s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:37.642 ( 16.614s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #13, timestamp: 1669600057237 [ INFO] [1669600057.742861934]: Image #15, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0015.jpg [ INFO] [1669600057.744704926]: STAGE_NODE [pose_estimation]: Received frame. 2022-11-28 09:47:37.891 ( 16.863s) [Publisher [pose_] pose_estimation.cpp:651 0| . Publishing pose of frame #11... [ INFO] [1669600058.060561695]: Image #16, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0016.jpg [ INFO] [1669600058.068995327]: STAGE_NODE [pose_estimation]: Received frame. [ INFO] [1669600058.370443148]: Image #17, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0017.jpg [ INFO] [1669600058.375140168]: STAGE_NODE [pose_estimation]: Received frame. 2022-11-28 09:47:38.581 ( 17.553s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 2022-11-28 09:47:38.581 ( 17.553s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 0.939 s: track 2022-11-28 09:47:38.581 ( 17.553s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 939 ms 2022-11-28 09:47:38.581 ( 17.553s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 20.00% 2022-11-28 09:47:38.581 ( 17.553s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:38.581 ( 17.553s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #14, timestamp: 1669600057578 [ INFO] [1669600058.691302443]: Image #18, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0018.jpg [ INFO] [1669600058.693112855]: STAGE_NODE [pose_estimation]: Received frame. 2022-11-28 09:47:38.898 ( 17.870s) [Publisher [pose_] pose_estimation.cpp:651 0| . Publishing pose of frame #12... [ INFO] [1669600059.064714562]: Image #19, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0019.jpg [ INFO] [1669600059.071801240]: STAGE_NODE [pose_estimation]: Received frame. 2022-11-28 09:47:39.477 ( 18.449s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 2022-11-28 09:47:39.477 ( 18.449s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 0.896 s: track 2022-11-28 09:47:39.477 ( 18.449s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 896 ms 2022-11-28 09:47:39.477 ( 18.449s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 40.00% 2022-11-28 09:47:39.477 ( 18.449s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:39.477 ( 18.449s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #15, timestamp: 1669600057908 2022-11-28 09:47:39.906 ( 18.878s) [Publisher [pose_] pose_estimation.cpp:651 0| . Publishing pose of frame #13... [ INFO] [1669600060.293637933]: Image #20, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0020.jpg [ INFO] [1669600060.300086461]: STAGE_NODE [pose_estimation]: Received frame. 2022-11-28 09:47:40.317 ( 19.289s) [Stage [pose_esti] pose_estimation.cpp:282 WARN| . Lost tracking while initializing georeferencing, resetting VSLAM to reacquire reference... 2022-11-28 09:47:40.317 ( 19.289s) [Stage [pose_esti] open_vslam.cpp:185 0| . Reseting visual SLAM... 2022-11-28 09:47:40.317 ( 19.289s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 2022-11-28 09:47:40.317 ( 19.289s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 0.840 s: track 2022-11-28 09:47:40.317 ( 19.289s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 840 ms 2022-11-28 09:47:40.317 ( 19.289s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 30.00% 2022-11-28 09:47:40.317 ( 19.289s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:40.317 ( 19.289s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #16, timestamp: 1669600058218 [2022-11-28 09:47:40.353] [info] resetting system [2022-11-28 09:47:40.356] [info] reset mapping module [2022-11-28 09:47:40.360] [info] reset global optimization module [2022-11-28 09:47:40.363] [info] clear BoW database [2022-11-28 09:47:40.363] [info] clear map database 2022-11-28 09:47:40.912 ( 19.884s) [Publisher [pose_] pose_estimation.cpp:651 0| . Publishing pose of frame #14... 2022-11-28 09:47:41.144 ( 20.116s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 2022-11-28 09:47:41.144 ( 20.116s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 0.827 s: track 2022-11-28 09:47:41.144 ( 20.116s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 827 ms 2022-11-28 09:47:41.144 ( 20.116s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 30.00% 2022-11-28 09:47:41.144 ( 20.116s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:41.144 ( 20.116s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #17, timestamp: 1669600058523 2022-11-28 09:47:41.201 ( 20.173s) [ F111E700] stage_base.cpp:103 0| . { Stage [pose_estimation] statistics 2022-11-28 09:47:41.201 ( 20.173s) [ F111E700] stage_base.cpp:104 0| . . Total frames: 20 2022-11-28 09:47:41.201 ( 20.173s) [ F111E700] stage_base.cpp:105 0| . . Processed frames: 18 2022-11-28 09:47:41.201 ( 20.173s) [ F111E700] stage_base.cpp:106 0| . . Bad frames: 0 2022-11-28 09:47:41.201 ( 20.173s) [ F111E700] stage_base.cpp:107 0| . . Dropped frames: 0 2022-11-28 09:47:41.201 ( 20.173s) [ F111E700] stage_base.cpp:108 0| . . Fps in: 0.70 2022-11-28 09:47:41.201 ( 20.173s) [ F111E700] stage_base.cpp:109 0| . . Fps out: 0.00 2022-11-28 09:47:41.201 ( 20.173s) [ F111E700] stage_base.cpp:103 0| . } 0.000 s: Stage [pose_estimation] statistics 2022-11-28 09:47:41.215 ( 20.187s) [ 29526700] stage_base.cpp:103 0| { Stage [surface_generation] statistics 2022-11-28 09:47:41.215 ( 20.187s) [ 29526700] stage_base.cpp:104 0| . Total frames: 0 2022-11-28 09:47:41.215 ( 20.187s) [ 29526700] stage_base.cpp:105 0| . Processed frames: 0 2022-11-28 09:47:41.215 ( 20.187s) [ 29526700] stage_base.cpp:106 0| . Bad frames: 0 2022-11-28 09:47:41.215 ( 20.187s) [ 29526700] stage_base.cpp:107 0| . Dropped frames: 0 2022-11-28 09:47:41.215 ( 20.187s) [ 29526700] stage_base.cpp:108 0| . Fps in: 0.00 2022-11-28 09:47:41.215 ( 20.187s) [ 29526700] stage_base.cpp:109 0| . Fps out: 0.00 2022-11-28 09:47:41.215 ( 20.187s) [ 29526700] stage_base.cpp:103 0| } 0.000 s: Stage [surface_generation] statistics 2022-11-28 09:47:41.220 ( 20.192s) [ BADE3700] stage_base.cpp:103 0| { Stage [ortho_rectification] statistics 2022-11-28 09:47:41.220 ( 20.192s) [ BADE3700] stage_base.cpp:104 0| . Total frames: 0 2022-11-28 09:47:41.220 ( 20.192s) [ BADE3700] stage_base.cpp:105 0| . Processed frames: 0 2022-11-28 09:47:41.220 ( 20.192s) [ BADE3700] stage_base.cpp:106 0| . Bad frames: 0 2022-11-28 09:47:41.220 ( 20.192s) [ BADE3700] stage_base.cpp:107 0| . Dropped frames: 0 2022-11-28 09:47:41.220 ( 20.192s) [ BADE3700] stage_base.cpp:108 0| . Fps in: 0.00 2022-11-28 09:47:41.220 ( 20.192s) [ BADE3700] stage_base.cpp:109 0| . Fps out: 0.00 2022-11-28 09:47:41.220 ( 20.192s) [ BADE3700] stage_base.cpp:103 0| } 0.000 s: Stage [ortho_rectification] statistics 2022-11-28 09:47:41.220 ( 20.192s) [ 26BD7700] stage_base.cpp:103 0| { Stage [mosaicing] statistics 2022-11-28 09:47:41.220 ( 20.192s) [ 26BD7700] stage_base.cpp:104 0| . Total frames: 0 2022-11-28 09:47:41.220 ( 20.192s) [ 26BD7700] stage_base.cpp:105 0| . Processed frames: 0 2022-11-28 09:47:41.220 ( 20.192s) [ 26BD7700] stage_base.cpp:106 0| . Bad frames: 0 2022-11-28 09:47:41.220 ( 20.192s) [ 26BD7700] stage_base.cpp:107 0| . Dropped frames: 0 2022-11-28 09:47:41.220 ( 20.192s) [ 26BD7700] stage_base.cpp:108 0| . Fps in: 0.00 2022-11-28 09:47:41.220 ( 20.192s) [ 26BD7700] stage_base.cpp:109 0| . Fps out: 0.00 2022-11-28 09:47:41.220 ( 20.192s) [ 26BD7700] stage_base.cpp:103 0| } 0.000 s: Stage [mosaicing] statistics [ INFO] [1669600061.469106661]: Image #21, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0021.jpg [ INFO] [1669600061.476754216]: STAGE_NODE [pose_estimation]: Received frame. 2022-11-28 09:47:41.915 ( 20.887s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 2022-11-28 09:47:41.915 ( 20.887s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 0.771 s: track 2022-11-28 09:47:41.915 ( 20.887s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 771 ms 2022-11-28 09:47:41.915 ( 20.887s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 30.00% 2022-11-28 09:47:41.915 ( 20.887s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:41.915 ( 20.887s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #18, timestamp: 1669600058910 2022-11-28 09:47:41.919 ( 20.890s) [Publisher [pose_] pose_estimation.cpp:651 0| . Publishing pose of frame #15... [ INFO] [1669600062.422669054]: Image #22, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0022.jpg [ INFO] [1669600062.430622972]: STAGE_NODE [pose_estimation]: Received frame. 2022-11-28 09:47:42.680 ( 21.652s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 2022-11-28 09:47:42.680 ( 21.652s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 0.765 s: track 2022-11-28 09:47:42.680 ( 21.652s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 765 ms 2022-11-28 09:47:42.680 ( 21.652s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 30.00% 2022-11-28 09:47:42.680 ( 21.652s) [Stage [pose_esti] pose_estimation.cpp:169 0| Buffer [all, init, publish]: 0, 0, 3 2022-11-28 09:47:42.680 ( 21.652s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:42.680 ( 21.652s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #19, timestamp: 1669600060140 2022-11-28 09:47:42.927 ( 21.899s) [Publisher [pose_] pose_estimation.cpp:651 0| . Publishing pose of frame #16... [ INFO] [1669600063.162010950]: STAGE_NODE [pose_estimation]: Received frame. [ INFO] [1669600063.162254074]: Image #23, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0023.jpg 2022-11-28 09:47:43.432 ( 22.404s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 2022-11-28 09:47:43.433 ( 22.404s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 0.752 s: track 2022-11-28 09:47:43.433 ( 22.404s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 753 ms 2022-11-28 09:47:43.433 ( 22.404s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 30.00% 2022-11-28 09:47:43.433 ( 22.404s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:43.433 ( 22.404s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #20, timestamp: 1669600061317 [ INFO] [1669600063.722878147]: Image #24, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0024.jpg [ INFO] [1669600063.731199802]: STAGE_NODE [pose_estimation]: Received frame. 2022-11-28 09:47:43.933 ( 22.905s) [Publisher [pose_] pose_estimation.cpp:651 0| . Publishing pose of frame #17... 2022-11-28 09:47:44.193 ( 23.164s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 2022-11-28 09:47:44.193 ( 23.165s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 0.760 s: track 2022-11-28 09:47:44.193 ( 23.165s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 760 ms 2022-11-28 09:47:44.193 ( 23.165s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 30.00% 2022-11-28 09:47:44.193 ( 23.165s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:44.193 ( 23.165s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #21, timestamp: 1669600062271 [ INFO] [1669600064.872967777]: Image #25, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0025.jpg [ INFO] [1669600064.880255429]: STAGE_NODE [pose_estimation]: Received frame. 2022-11-28 09:47:44.940 ( 23.912s) [Publisher [pose_] pose_estimation.cpp:651 0| . Publishing pose of frame #18... 2022-11-28 09:47:44.954 ( 23.926s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 2022-11-28 09:47:44.954 ( 23.926s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 0.761 s: track 2022-11-28 09:47:44.954 ( 23.926s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 761 ms 2022-11-28 09:47:44.954 ( 23.926s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 20.00% 2022-11-28 09:47:44.954 ( 23.926s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:44.954 ( 23.926s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #22, timestamp: 1669600063011 2022-11-28 09:47:45.759 ( 24.731s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 2022-11-28 09:47:45.760 ( 24.731s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 0.806 s: track 2022-11-28 09:47:45.760 ( 24.731s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 806 ms 2022-11-28 09:47:45.760 ( 24.732s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 20.00% 2022-11-28 09:47:45.760 ( 24.732s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:45.760 ( 24.732s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #23, timestamp: 1669600063572 [ INFO] [1669600065.937838835]: Image #26, image Path: /home/pyn/nanji_photo/openrealm/sys/img_0026.jpg [ INFO] [1669600065.939590694]: STAGE_NODE [pose_estimation]: Received frame. 2022-11-28 09:47:45.948 ( 24.920s) [Publisher [pose_] pose_estimation.cpp:651 0| . Publishing pose of frame #19... 2022-11-28 09:47:46.545 ( 25.517s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 2022-11-28 09:47:46.546 ( 25.518s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 0.786 s: track 2022-11-28 09:47:46.546 ( 25.518s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 786 ms 2022-11-28 09:47:46.546 ( 25.518s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 20.00% 2022-11-28 09:47:46.546 ( 25.518s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track 2022-11-28 09:47:46.546 ( 25.518s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #24, timestamp: 1669600064720 2022-11-28 09:47:46.955 ( 25.927s) [Publisher [pose_] pose_estimation.cpp:651 0| . Publishing pose of frame #20... ^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_pose_estimation-3] killing on exit [realm_exiv2_grabber-2] killing on exit 2022-11-28 09:47:47.288 ( 26.260s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking. 20 thanks a lot!
pyn1998 commented 1 year ago

And in the image window of RVIZ, I can see the photos ,but it seems that there are no feature points detected:

sendpix1

laxnpander commented 1 year ago

@pyn1998 Hey, glad you like OpenREALM. It is very likely, that something in your setup is causing trouble. What frame rate does your camera / dataset have? How fast do you fly? And did you provide OpenREALM with the camera intrinsics? You must be very careful with all of that. Under the roof we use a visual SLAM (OpenVSLAM) which requires a certain image quality and high overlap between consecutive images (>90%). Also it takes some tuning of the pipeline parameters to get the results you want.

pyn1998 commented 1 year ago

@pyn1998 Hey, glad you like OpenREALM. It is very likely, that something in your setup is causing trouble. What frame rate does your camera / dataset have? How fast do you fly? And did you provide OpenREALM with the camera intrinsics? You must be very careful with all of that. Under the roof we use a visual SLAM (OpenVSLAM) which requires a certain image quality and high overlap between consecutive images (>90%). Also it takes some tuning of the pipeline parameters to get the results you want.

Thank you for your professional and detailed reply! My dataset has 80%/60% overlap,appears that it's not enough for openvslam; and I have already provide OpenREALM with my camera intrinsics.As for the fly speed ,I'm no sure about that at this moment,could you please tell me what's the proper range of fly speed?And does the flypath matter the ortho result?I have some other dataset which flew in a unarranged path ,it can not get a satisfied result,either. By the way,by changing another dataset which has higher overlap,I got the ortho result showed in the RVIZ, so it must be the problem of my dataset. Thank you for your reply and your work,again!

laxnpander commented 1 year ago

@pyn1998 The flight path does not matter too much except for completeness of the result. Also when flying lawnmower pattern the overall integrity should be better due to better geometry of triangulation. But results should be shown in any case.

There is no universal rule what works and what not unfortunately. It very much depends on the image quality and the reproducibility of the features. This is really hard to identify as human and also depends very much on the feature extractor / matcher. The more overlap you can provide, the better! At best, test some configurations (frame rate, altitude, flight speed) with your specific hardware and tune the pipeline to it. Then use this config for other flights.

laxnpander commented 1 year ago

Reopen if questions / problems persist.