Describe the bug
I am trying to run it using my own recorded rosbag having image, imu, and event camera topics. Still, as I try to run it using bare minimum configuration, it shows the following error.
To Reproduce
Steps to reproduce the behavior:
Edit "vio_davis.conf" to change topic names as
--topic_cam0=/uav3/ximea_camera_down/image_raw
--topic_dvs0=/uav3/events
--topic_imu0=/uav3/imu
Roslaunch with self recorded rosbag using the command as given in next point.
Describe the bug I am trying to run it using my own recorded rosbag having image, imu, and event camera topics. Still, as I try to run it using bare minimum configuration, it shows the following error.
To Reproduce Steps to reproduce the behavior:
Rosbag info:
path: event.bag version: 2.0 duration: 1:01s (61s) start: Jul 04 2023 20:37:32.95 (1688495852.95) end: Jul 04 2023 20:38:34.04 (1688495914.04) size: 3.4 GB messages: 53545 compression: none [2300/2300 chunks] types: dvs_msgs/EventArray [5e8beee5a6c107e504c2e78903c224b8] sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743] sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2] topics: /uav3/events 1834 msgs : dvs_msgs/EventArray /uav3/imu 49418 msgs : sensor_msgs/Imu /uav3/ximea_camera_down/image_raw 2293 msgs : sensor_msgs/ImageExpected behavior It shows the error:
... logging to /home/zany/.ros/log/76c44d2c-1a96-11ee-abc5-5d0dd3182c76/roslaunch-omen-90743.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://omen:43517/ SUMMARY ======== PARAMETERS * /rosdistro: noetic * /rosversion: 1.16.0 NODES / visualisation (rviz/rviz) ze_vio_ceres (ze_vio_ceres/ze_vio_ceres_node) ROS_MASTER_URI=http://localhost:11311 process[ze_vio_ceres-1]: started with pid [90773] process[visualisation-2]: started with pid [90775] [ INFO] [1688495985.865789557]: rviz version 1.14.19 [ INFO] [1688495985.865871482]: compiled against Qt version 5.12.8 [ INFO] [1688495985.865899838]: compiled against OGRE version 1.9.0 (Ghadamon) [ INFO] [1688495985.878734270]: Forcing OpenGl version 0. I0704 20:39:45.959683 90773 camera_rig.cpp:78] Camera rig contains a DVS camera I0704 20:39:46.108244 90773 camera_rig.cpp:127] Ignoring cam distortion for camera with label: dvs and type: PinholeRadialTangential I0704 20:39:46.110283 90773 camera_rig.cpp:177] Original camera intrinsics: [199.3714346727882, 0, 133.7543807159082; 0, 199.7078674353677, 113.9921699502763; 0, 0, 1] I0704 20:39:46.110342 90773 camera_rig.cpp:178] Rescaled camera intrinsics: [169.7667236328125, 0, 136.7846826069435; 0, 178.7205200195312, 117.0833152137893; 0, 0, 1] I0704 20:39:46.356182 90773 data_provider_factory.cpp:116] FLAGS_data_source = 1 [ INFO] [1688495986.370039212]: Stereo is NOT SUPPORTED [ INFO] [1688495986.370122254]: OpenGL device: AMD RENOIR (DRM 3.42.0, 5.15.0-75-generic, LLVM 12.0.0) [ INFO] [1688495986.370156547]: OpenGl version: 4,6 (GLSL 4,6) limited to GLSL 1.4 on Mesa system. I0704 20:39:46.393103 90773 camera_imu_synchronizer_base.cpp:68] t_cam = t_imu - 2400000 [ns] W0704 20:39:46.405509 90773 nframe_table.hpp:157] Accessing nframe that is not valid. W0704 20:39:46.405551 90773 nframe_table.hpp:157] Accessing nframe that is not valid. ze_vio_ceres_node: /usr/include/eigen3/Eigen/src/Core/Block.h:120: Eigen::Block<XprType, BlockRows, BlockCols, InnerPanel>::Block(XprType&, Eigen::Index) [with XprType = const Eigen::Matrix<float, 2, -1>; int BlockRows = 2; int BlockCols = 1; bool InnerPanel = true; Eigen::Index = long int]: Assertion `(i>=0) && ( ((BlockRows==1) && (BlockCols==XprType::ColsAtCompileTime) && i<xpr.rows()) ||((BlockRows==XprType::RowsAtCompileTime) && (BlockCols==1) && i<xpr.cols()))' failed. *** Aborted at 1688495986 (unix time) try "date -d @1688495986" if you are using GNU date *** PC: @ 0x7f36a6a0f00b gsignal *** SIGABRT (@0x3e800016295) received by PID 90773 (TID 0x7f368d87d900) from PID 90773; stack trace: *** @ 0x7f36a7230631 (unknown) @ 0x7f36a6a0f090 (unknown) @ 0x7f36a6a0f00b gsignal @ 0x7f36a69ee859 abort @ 0x7f36a69ee729 (unknown) @ 0x7f36a69fffd6 __assert_fail @ 0x7f36a7563427 Eigen::Block<>::Block() @ 0x7f36a755d172 Eigen::DenseBase<>::col() @ 0x7f36a7552d55 ze::FrontendBase::drawEvents() @ 0x7f36a754f471 ze::FrontendBase::processData() @ 0x7f36a754d06e ze::FrontendBase::addData() @ 0x7f36a7549c7b std::__invoke_impl<>() @ 0x7f36a7548a6e std::__invoke<>() @ 0x7f36a7547b5d _ZNSt5_BindIFMN2ze12FrontendBaseEFvRKSt4pairIlSt10shared_ptrISt6vectorIN8dvs_msgs6Event_ISaIvEEESaIS8_EEEERKS4_IN5Eigen6MatrixIlLin1ELi1ELi0ELin1ELi1EEESaISH_EERKS4_INSG_IdLi6ELin1ELi0ELi6ELin1EEESaISM_EEEPS1_St12_PlaceholderILi1EESU_ILi2EESU_ILi3EEEE6__callIvJSE_SL_SQ_EJLm0ELm1ELm2ELm3EEEET_OSt5tupleIJDpT0_EESt12_Index_tupleIJXspT1_EEE @ 0x7f36a7546cc6 std::_Bind<>::operator()<>() @ 0x7f36a7545b1a std::_Function_handler<>::_M_invoke() @ 0x7f36a6948a76 std::function<>::operator()() @ 0x7f36a694485b ze::CameraImuSynchronizer::checkImuDataAndEventsCallback() @ 0x7f36a6943851 ze::CameraImuSynchronizer::checkImuDataAndCallback() @ 0x7f36a696028d ze::CameraImuSynchronizerBase::addEventsData() @ 0x7f36a69572c9 std::__invoke_impl<>() @ 0x7f36a6954dd2 std::__invoke<>() @ 0x7f36a6952387 _ZNSt5_BindIFMN2ze25CameraImuSynchronizerBaseEFvlRKSt10shared_ptrISt6vectorIN8dvs_msgs6Event_ISaIvEEESaIS7_EEERKbEPNS0_21CameraImuSynchronizerESt12_PlaceholderILi1EESJ_ILi2EEbEE6__callIvJOlSC_OjEJLm0ELm1ELm2ELm3EEEET_OSt5tupleIJDpT0_EESt12_Index_tupleIJXspT1_EEE @ 0x7f36a694e80c std::_Bind<>::operator()<>() @ 0x7f36a694a353 std::_Function_handler<>::_M_invoke() @ 0x7f36a690bfef std::function<>::operator()() @ 0x7f36a6909e28 ze::DataProviderRosbag::dvsSpin() @ 0x7f36a6906c6c ze::DataProviderRosbag::spinOnce() @ 0x7f36a68eb726 ze::DataProviderBase::spin() @ 0x7f36a7543b6c ze::VisualOdometry::startBlocking() @ 0x55f46f91f0c2 main @ 0x7f36a69f0083 __libc_start_main ================================================================================REQUIRED process [ze_vio_ceres-1] has died! process has died [pid 90773, exit code -6, cmd /home/zany/rnd/ros1_noetic_ws/devel/lib/ze_vio_ceres/ze_vio_ceres_node --data_source=1 # rosbag --bag_filename=/home/zany/rnd/ros1_noetic_ws/src/rpg_ultimate_slam_open/applications/ze_vio_ceres/../../data/event.bag --vio_use_events=1 --vio_use_events_and_images=0 --vio_rescale_intrinsics_for_distortion=true --timeshift_cam_imu=0.0024 # IMU delay coming from low-pass filter --calib_filename=/home/zany/rnd/ros1_noetic_ws/src/rpg_ultimate_slam_open/applications/ze_vio_ceres/../../calibration/DAVIS-IJRR17.yaml --flagfile=/home/zany/rnd/ros1_noetic_ws/src/rpg_ultimate_slam_open/applications/ze_vio_ceres/cfg/vio_base.conf --flagfile=/home/zany/rnd/ros1_noetic_ws/src/rpg_ultimate_slam_open/applications/ze_vio_ceres/cfg/vio_davis.conf --data_interval_between_event_packets=15000 # events-only pipeline: interval between successive event frames. --data_use_time_interval=false # events-only pipeline: if true, data_interval_between_event_packets is interpreted as milliseconds, otherwise as number of events --data_size_augmented_event_packet=40000 # max number of events per event frame (should be >= vio_frame_size) --vio_frame_size=15000 # each event frame will be drawn with that number of events --vio_do_motion_correction=1 --noise_event_rate=20000 --vio_frame_norm_factor=4.0 --vio_trace_pose=False --vmodule=feature_tracker=0 --colorlogtostderr=1 --logtostderr=1 --alsologtostderr=1 --vio_viz_feature_tracks=True --vio_viz_feature_tracks_length=0 __name:=ze_vio_ceres __log:=/home/zany/.ros/log/76c44d2c-1a96-11ee-abc5-5d0dd3182c76/ze_vio_ceres-1.log]. log file: /home/zany/.ros/log/76c44d2c-1a96-11ee-abc5-5d0dd3182c76/ze_vio_ceres-1*.log Initiating shutdown! ================================================================================ [visualisation-2] killing on exit [ze_vio_ceres-1] killing on exit shutting down processing monitor... ... shutting down processing monitor completeand exits.
Screenshots
System: