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S-PTAM: Stereo Parallel Tracking and Mapping
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how can I run with my own stereocamera? #16

Closed Dorothy-2016 closed 6 years ago

Dorothy-2016 commented 6 years ago

I am new to ROS, i have seen you have put some launch files , if I want to run with my own stereocamera,how can I start?

taihup commented 6 years ago

Hi Dorothy-2016, I recommend you to do the ROS turorial and try to calibrate the camera first with ROS calibration application. Once you achieve the camera. You should put the CameraInfoLeft.txt and CameraInfoRight.txt in ~/.ros directory. The you can start the camera with ROS and then create or adapt a launch file that make use of the image topics publicated by the camera to run s-ptam. In my opinion, all these concepts are quite difficult for a beginner, so I recommend you to go step by step. Regards, Taihú

Dorothy-2016 commented 6 years ago

Thanks for your reply! The camera that I have has its own SDK which can publish the camera image and camera info,so which launch file should I need ,I can see you have summit 4 launch files ,I want to ask the differences between them, and my camera is two fisheye camera,So which launch file is suit for me and what parameters should I change for my camera? and yes I know its may hard for me but I want to have a try,later I will have a long time to study things relating to it ,so it is also a chance for me to practice.

taihup commented 6 years ago

The differences between launch are many. However, if you take the ROS tutorial and understand how to modify launch you will make s-ptam work with your camera. Essential stuffs to make S-PTAM work with your camera: in your launch, you will need to subscribe S-PTAM to the camera image and CameraInfo topics. Also, If the camera images are not rectified you should use the stereo_image_proc node to do it.

I hope it helps.

Dorothy-2016 commented 6 years ago

Thanks for your advice,I have modified the kitti.launch to my own launch file,and when run rqt_graph it get the following result:

myntrosgraph

and the output is like this: teacian@xu:/opt/cdx/Sptam/catkin_ws_sptam$ roslaunch sptam kitimynt.launch ... logging to /home/teacian/.ros/log/c4cfec9c-c033-11e7-baf6-7c5cf841c52b/roslaunch-xu-19931.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://xu:43557/

SUMMARY

PARAMETERS

NODES / sptam (sptam/sptam_node) sptam_path (ros_utils/pose_to_path) start_broadcaster (tf2_ros/static_transform_publisher)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[start_broadcaster-1]: started with pid [19949] process[sptam_path-2]: started with pid [19950] process[sptam-3]: started with pid [19991] [ INFO] [1509705110.195231959]: Initializing nodelet with 8 worker threads. crossCheck: 0 OpenCV: threads set to -1 nfeatures: 1000 qualityLevel: 0.01 minDistance: 15 blockSize: 3 useHarrisDetector: 0 k: 0.04 nfeatures: 1000 qualityLevel: 0.01 minDistance: 15 blockSize: 3 useHarrisDetector: 0 k: 0.04 bytes: 32 use_orientation: 0 bytes: 32 use_orientation: 0 [ INFO] [1509705110.294265954]: Loop Detector initializing, loading vocabulary [ INFO] [1509705116.355689808]: init calib [ INFO] [1509705116.355823510]: baseline: 118.15 No matches found for triangulation No matches found for triangulation [ INFO] [1509705116.511043507]: S-PTAM stereo node initialized. No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation

Can you give me some advice on why it happen like this?

taihup commented 6 years ago

It looks like that S-PTAM can not match left and right features to create the initial map.

Firs of all, compile S-PTAM without Loop Closure module first. Once it is working, you can enable it. Try to use another type of camera (without fisheye lens, I have never worked with them). Left and right cameras should be synchronized (if not, you should enable the respectively flag in S-PTAM.) Check if rectification of images is working properly (To do so look the images with rtq ros app). Point the camera to a high textured scene, so you are sure that features are extracted properly).

Dorothy-2016 commented 6 years ago

I compile S-PTAM without Loop Closure module,then the output is as follows: [ INFO] [1509938708.239523045]: Trying to intialize map... No matches found for triangulation [ WARN] [1509938708.240475157]: Not enough points to initialize map. No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation [ INFO] [1509938709.279275994]: Trying to intialize map... No matches found for triangulation [ WARN] [1509938709.280364294]: Not enough points to initialize map. No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation [ INFO] [1509938710.320919186]: Trying to intialize map... No matches found for triangulation [ WARN] [1509938710.322022690]: Not enough points to initialize map. No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation [ INFO] [1509938711.362277117]: Trying to intialize map... No matches found for triangulation [ WARN] [1509938711.363430142]: Not enough points to initialize map. No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation [ INFO] [1509938712.405897111]: Trying to intialize map... No matches found for triangulation [ WARN] [1509938712.407057507]: Not enough points to initialize map. No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation [ INFO] [1509938713.447482324]: Trying to intialize map... No matches found for triangulation [ WARN] [1509938713.448476428]: Not enough points to initialize map. No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation [ INFO] [1509938714.489403888]: Trying to intialize map... No matches found for triangulation [ WARN] [1509938714.490575713]: Not enough points to initialize map. No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation [ INFO] [1509938715.531363456]: Trying to intialize map... No matches found for triangulation [ WARN] [1509938715.532380466]: Not enough points to initialize map. No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation [ INFO] [1509938716.575199531]: Trying to intialize map... No matches found for triangulation [ WARN] [1509938716.576243129]: Not enough points to initialize map. No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation [ INFO] [1509938717.616553453]: Trying to intialize map... No matches found for triangulation [ WARN] [1509938717.617831484]: Not enough points to initialize map. No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation [ INFO] [1509938718.658522529]: Trying to intialize map... No matches found for triangulation [ WARN] [1509938718.659623802]: Not enough points to initialize map. No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation [ INFO] [1509938719.704135910]: Trying to intialize map... No matches found for triangulation [ WARN] [1509938719.705150324]: Not enough points to initialize map. No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation [ INFO] [1509938720.739436513]: Trying to intialize map... No matches found for triangulation [ WARN] [1509938720.740359995]: Not enough points to initialize map. No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation [ INFO] [1509938721.782933433]: Trying to intialize map... No matches found for triangulation [ WARN] [1509938721.784070594]: Not enough points to initialize map. No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation [ INFO] [1509938722.827311775]: Trying to intialize map... No matches found for triangulation [ WARN] [1509938722.828501385]: Not enough points to initialize map. No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation [ INFO] [1509938723.867248375]: Trying to intialize map... No matches found for triangulation [ WARN] [1509938723.868300452]: Not enough points to initialize map. No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation

and about the fisheyes images, I see the dataset Euroc is fisheyes images,so I think this algorithm is adapted to it,I don't know if I understand it right?

taihup commented 6 years ago

S-PTAM is not finding matches. Did you try all the recomendations that I told you? Send me stereo images (raw and rectified) that you are capture with the camera, maybe I can figure out what is going on.

Dorothy-2016 commented 6 years ago

Sorry to reply late! https://drive.google.com/drive/folders/1e2O3MQuu3C8xnJhoSkJUHm2lD8nmIB4o calibratefile.txt kitimynt_launch.txt This is my dataset which include left and right raw image, and some camera info,and my launchfile. You have said that I need to put the CameraInfoLeft.txt and CameraInfoRight.txt in ~/.ros, at the beginning , I thought the topic camerainfo will give this info so I didn't put it,and today I try to put this two file in ~/.ros,but I didn't know the format in the txt, I just put the both left and right info in the two file,the output is also like the result I have send to you ,some time it will output like this: ERROR: There is not any covisibility keyframes observing the tracked points.

I think maybe I set wrong somewhere, so I send the camerainfo and launchfile to you, maybe you can find my problem. Very very thanks!

taihup commented 6 years ago

The Google drive link is not working :S so I can not see the images. It is true that if you have the CameraInfo topic messages is enough. So it is not necessary to put calibration files in .ros/ directory. However, the calibration.txt file that you send me is wrong, each cameraInfo file should looks like something like this:

image_width: 640 image_height: 480 camera_name: cameraLeft camera_matrix: rows: 3 cols: 3 data: [7.2081023821013298e+002, 0., 3.7766855040437690e+002, 0., 7.2081023821013298e+002, 2.3623118455134448e+002, 0., 0., 1.] distortion_model: plumb_bob distortion_coefficients: rows: 1 cols: 5 data: [7.8214116524400121e-002, -1.2207787101622106e-001, -5.4688250772669418e-004, -6.0582482762032961e-004, 0.] rectification_matrix: rows: 3 cols: 3 data: [9.9983751211720173e-001, 1.6293788099251453e-003, -1.7952562156361658e-002, -1.6119711177960876e-003, 9.9999821656872989e-001, 9.8407747396426788e-004, 1.7954133574184326e-002, -9.5497856161252948e-004, 9.9983835548729938e-001] projection_matrix: rows: 3 cols: 4 data: [7.6555754546463754e+002, 0., 3.9658207702636719e+002, 0., 0., 7.6555754546463754e+002, 2.4418747901916504e+002, 0., 0., 0., 1., 0.]

If camera are synchronized you should set false the approximate_sync parameter. Send me the images (raw and rectified) and the camerainfo topics information of both cameras.

Dorothy-2016 commented 6 years ago

The raw data is here: https://drive.google.com/drive/folders/1e2O3MQuu3C8xnJhoSkJUHm2lD8nmIB4o about the rectified data, I tried to save it,but not sucessfully,I'm going to try anotherway,so now I send you the raw data first. the following is camerainfo topics information:

leftcamerainfo.txt rightcamerainfo.txt

taihup commented 6 years ago

Are you working with camera in live mode or jyou are using a rosbag. If it is the former case, you should setting up the use_sim_time ROS parameter as false. You can do this with the following command rosparam set use_sim_time false

Dorothy-2016 commented 6 years ago

Yes,I use the former case, and I set use_sim_time false,but the result is always say "ERROR: There is not any covisibility keyframes observing the tracked points."
Does this because the two images is not really synchronized ? and what about my launch file? does it has any problem? I am not sure about the TF set is right.

taihup commented 6 years ago

Send me the output of terminal throw by S-PTAM, and the .log file. I didn't find any weird thing in the launch file but it could be.

You can use the rqt to visualize the TF tree (nodes should be connected). Just choose Plugin -> Visualization -> TF Tree.

Leave the camera steady to make all the tests until it works.

Dorothy-2016 commented 6 years ago

(1)The output of terminal: started roslaunch server http://dorothy:42523/

SUMMARY

PARAMETERS

NODES / camera_broadcaster (tf2_ros/static_transform_publisher) sptam (sptam/sptam_node) sptam_path (ros_utils/pose_to_path)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[camera_broadcaster-1]: started with pid [22157] process[sptam_path-2]: started with pid [22158] process[sptam-3]: started with pid [22168] [ INFO] [1510640359.494762478]: Initializing nodelet with 12 worker threads. crossCheck: 0 OpenCV: threads set to -1 nfeatures: 1000 qualityLevel: 0.01 minDistance: 15 blockSize: 3 useHarrisDetector: 0 k: 0.04 nfeatures: 1000 qualityLevel: 0.01 minDistance: 15 blockSize: 3 useHarrisDetector: 0 k: 0.04 bytes: 32 use_orientation: 0 bytes: 32 use_orientation: 0 [ INFO] [1510640359.749254180]: init calib [ INFO] [1510640359.749454645]: baseline: 118.15 [ INFO] [1510640359.930321094]: Trying to intialize map... [ WARN] [1510640359.936454308]: Not enough points to initialize map. [ INFO] [1510640360.073252464]: S-PTAM stereo node initialized. [ INFO] [1510640360.965305022]: Trying to intialize map... [ WARN] [1510640360.972400521]: Not enough points to initialize map. [ INFO] [1510640361.966923788]: Trying to intialize map... [ WARN] [1510640361.972784869]: Not enough points to initialize map. [ INFO] [1510640362.969076411]: Trying to intialize map... [ WARN] [1510640362.974241896]: Not enough points to initialize map. [ INFO] [1510640363.971058625]: Trying to intialize map... [ WARN] [1510640363.977125855]: Not enough points to initialize map. [ INFO] [1510640364.972469124]: Trying to intialize map... [ WARN] [1510640364.978222243]: Not enough points to initialize map. [ INFO] [1510640365.699095176]: Map initialized with 10 points. [ WARN] [1510640365.735245988]: Not enough points for tracking. [ WARN] [1510640365.774843199]: Not enough points for tracking. [ WARN] [1510640365.814344038]: Not enough points for tracking. [ WARN] [1510640365.854371000]: Not enough points for tracking. [ WARN] [1510640365.894334417]: Not enough points for tracking. [ WARN] [1510640365.934981892]: Not enough points for tracking. [ WARN] [1510640365.974737160]: Not enough points for tracking. [ WARN] [1510640366.014972239]: Not enough points for tracking. [ WARN] [1510640366.054655071]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640366.095096825]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640366.134492970]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640366.174944019]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640366.215618143]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640366.255262487]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640366.294815772]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640366.335035094]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640366.374840662]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640366.415770141]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640366.455185555]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640366.495497785]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640366.535401478]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640366.576708811]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640366.615643791]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640366.655957473]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640366.695615220]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640366.736342621]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640366.777025377]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640366.816244833]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640366.857291562]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640366.896420408]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640366.936364496]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640366.976198642]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.016840352]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.056473127]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.096950155]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.136795507]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.176358522]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.216753005]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.256902883]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.297258451]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.337208205]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.377124269]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.417649890]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.457222794]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.497259655]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.537601916]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.577728931]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.617562033]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.657641183]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.698499788]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.738168132]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.778158379]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.817854595]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.857804970]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.897995042]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.938189355]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640367.978170964]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.018539140]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.057686849]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.098461360]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.138856878]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.178547791]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.218245866]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.258590057]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.299028135]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.339093971]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.378961642]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.419054119]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.458910849]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.499348872]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.539227920]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.580076896]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.619569875]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.659470200]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.699017879]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.739461722]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.779947775]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.820044858]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.859809457]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.900268237]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.939823560]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640368.979835566]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.020537567]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.059415658]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.099631035]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.140050776]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.180391699]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.219887465]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.259828134]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.301312574]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.341141837]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.380468824]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.420684963]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.460863635]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.500429197]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.540779262]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.580617256]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.621276094]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.660537536]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.702828421]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.741214911]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.781434137]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.821461116]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.861355694]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.901128304]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.941574668]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640369.982122125]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.021949654]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.061248519]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.101657446]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.141959385]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.181677417]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.221715906]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.261659138]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.302570879]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.342638250]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.382089399]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.422130015]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.462508516]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.502850580]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.543025192]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.582281777]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.622845783]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.662681379]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.702914338]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.743098683]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.783327469]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.823225656]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.862892131]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.902747614]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.943044480]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640370.983444182]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.023820427]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.063027171]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.103527374]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.144875318]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.183862512]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.223711900]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.264144839]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.304160297]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.343579442]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.383945387]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.423919527]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.464257036]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.504194108]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.544169995]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.584256687]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.624833068]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.664512257]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.704440916]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.744679683]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.784879307]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.824944208]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.864547371]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.904847256]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.945142015]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640371.985307420]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.025321399]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.065038605]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.105543012]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.145207978]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.185247103]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.225426821]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.265423714]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.305817441]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.346611073]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.385789806]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.425607478]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.466241809]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.505720678]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.545768852]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.586137495]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.626528523]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.666017576]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.706099017]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.746026738]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.786734488]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.827000277]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.866573353]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.906403729]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.947007436]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640372.987326043]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640373.027313369]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640373.066946441]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640373.107824832]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640373.147273921]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640373.187402767]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640373.228200298]: Not enough points for tracking. ^X^CERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1510640373.267504020]: Not enough points for tracking.

(2) the .log file: log.txt

(3)TF tree: tftree

taihup commented 6 years ago

Apparently you have a wrong calibration because It looks like you have 118.15 meters of baseline. Please, use the ROS stereo calibration package to calibrate the cameras.

Dorothy-2016 commented 6 years ago

Thank you for your kindly reminder! I check the calibration again, and yes, it is not right,I ask the supporter of the camera factory they asked me to send the camera to them to recalibration, Now I was waiting for them to send me the camera,I will tell you the result once I receive the camera.

Dorothy-2016 commented 6 years ago

Hi @taihup ,I have calibration the stereocamera use ROS package you said,and put the new CameraInfoLeft.txt and CameraInfoRight.txt in ~/.ros directory, but the result is still like this: [ INFO] [1512038856.592237764]: Initializing nodelet with 8 worker threads. crossCheck: 0 OpenCV: threads set to -1 nfeatures: 1000 qualityLevel: 0.01 minDistance: 15 blockSize: 3 useHarrisDetector: 0 k: 0.04 nfeatures: 1000 qualityLevel: 0.01 minDistance: 15 blockSize: 3 useHarrisDetector: 0 k: 0.04 bytes: 32 use_orientation: 0 bytes: 32 use_orientation: 0 [ INFO] [1512038856.846571137]: init calib [ INFO] [1512038856.846772309]: baseline: 114.193 [ INFO] [1512038856.914958830]: Trying to intialize map... No matches found for triangulation [ WARN] [1512038856.916253736]: Not enough points to initialize map. [ INFO] [1512038856.916398356]: S-PTAM stereo node initialized. No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation [ INFO] [1512038857.943215094]: Trying to intialize map... No matches found for triangulation [ WARN] [1512038857.943796487]: Not enough points to initialize map. No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation [ INFO] [1512038858.943696585]: Trying to intialize map... No matches found for triangulation [ WARN] [1512038858.944302646]: Not enough points to initialize map. No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation [ INFO] [1512038859.946835154]: Trying to intialize map... [ WARN] [1512038859.947826494]: Not enough points to initialize map. [ INFO] [1512038860.947877793]: Trying to intialize map... [ WARN] [1512038860.948828692]: Not enough points to initialize map. No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation [ INFO] [1512038861.948800958]: Trying to intialize map... No matches found for triangulation [ WARN] [1512038861.949380520]: Not enough points to initialize map. No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation [ INFO] [1512038862.949223454]: Trying to intialize map... No matches found for triangulation [ WARN] [1512038862.949641055]: Not enough points to initialize map. No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation No matches found for triangulation [ INFO] [1512038863.953164317]: Trying to intialize map... No matches found for triangulation [ WARN] [1512038863.953584526]: Not enough points to initialize map. No matches found for triangulation [ INFO] [1512038864.475959358]: Map initialized with 10 points. [ WARN] [1512038864.515152974]: Not enough points for tracking. [ WARN] [1512038864.555274500]: Not enough points for tracking. [ WARN] [1512038864.594292130]: Not enough points for tracking. [ WARN] [1512038864.634948820]: Not enough points for tracking. [ WARN] [1512038864.674791147]: Not enough points for tracking. [ WARN] [1512038864.716026656]: Not enough points for tracking. [ WARN] [1512038864.754960367]: Not enough points for tracking. [ WARN] [1512038864.794202859]: Not enough points for tracking. [ WARN] [1512038864.835195731]: Not enough points for tracking. [ WARN] [1512038864.875855472]: Not enough points for tracking. [ WARN] [1512038864.912744105]: Not enough points for tracking. [ WARN] [1512038864.955478328]: Not enough points for tracking. [ WARN] [1512038864.994433020]: Not enough points for tracking. [ WARN] [1512038865.034939484]: Not enough points for tracking. [ WARN] [1512038865.077167496]: Not enough points for tracking. [ WARN] [1512038865.116934185]: Not enough points for tracking. [ WARN] [1512038865.156073775]: Not enough points for tracking. [ WARN] [1512038865.194708208]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038865.234758479]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038865.276900011]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038865.314738604]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038865.355524730]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038865.397049093]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038865.431503648]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038865.474913206]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038865.515461683]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038865.557142302]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038865.597498051]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038865.635897335]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038865.675938717]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038865.717893137]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038865.757672639]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038865.796649661]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038865.835738333]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038865.876006494]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038865.917851139]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038865.956264600]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038865.997647647]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.036289116]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.075849786]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.118550782]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.155750820]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.195273356]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.236895675]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.275469319]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.316815209]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.355967327]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.396320936]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.439507704]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.476784363]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.516485235]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.556665610]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.596994581]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.636795733]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.676581176]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.716631530]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.757551367]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.798195596]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.836988465]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.876103531]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.918471887]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.956903761]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038866.997652542]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038867.036561047]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038867.077173750]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038867.118450968]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038867.156831692]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038867.198269677]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038867.238589244]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038867.278126540]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038867.318644644]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038867.358196271]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038867.397864138]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038867.437948931]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038867.478562162]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038867.518877985]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038867.557097166]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038867.598924092]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038867.640841739]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038867.677912813]: Not enough points for tracking.

the baseline is 114,and I have ask the camera producer, their baseline is 12cm ![Uploading imu2.png…]() So does it because the unit is different,which 114 is mm,not m?

taihup commented 6 years ago

You still have the same problem. I think ROS is not using the new calibration that you put in ~/.ros directory. if 114 mm is correct, then the number that should appear in S-PTAM is 0.114. How are you starting the camera, are you using a launch file? if not, maybe that is the problem. Try doing your own launcher for the camera.

Here is an example: https://answers.ros.org/question/12193/how-to-get-and-use-camera-calibration-file/

Dorothy-2016 commented 6 years ago

I have changed the calibration to the calibration file which I calilbration by ros package. and now the baseline is 0.35717,but the result is also like the following: ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512038867.677912813]: Not enough points for tracking.

and sometimes it will go in some assertions which make program break. here is the result which I use mit.yaml as the parameter input:

SUMMARY

PARAMETERS

NODES / camera_broadcaster (tf2_ros/static_transform_publisher) sptam (sptam/sptam_node) sptam_path (ros_utils/pose_to_path)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[camera_broadcaster-1]: started with pid [2587] process[sptam_path-2]: started with pid [2588] process[sptam-3]: started with pid [2617] [ INFO] [1512121411.634622114]: Initializing nodelet with 8 worker threads. crossCheck: 0 OpenCV: threads set to -1 nFeatures: 200 scaleFactor: 1.2 nLevels: 1 edgeThreshold: 31 firstLevel: 0 WTA_K: 2 scoreType: 0 patchSize: 31 fastThreshold: 20 nFeatures: 200 scaleFactor: 1.2 nLevels: 1 edgeThreshold: 31 firstLevel: 0 WTA_K: 2 scoreType: 0 patchSize: 31 fastThreshold: 20 bytes: 32 use_orientation: 0 bytes: 32 use_orientation: 0 [ INFO] [1512121412.289871934]: Loop Detector initializing, loading vocabulary [ INFO] [1512121439.022857132]: init calib [ INFO] [1512121439.024854896]: baseline: 0.35717 [ INFO] [1512121439.108531903]: Trying to intialize map... [ INFO] [1512121439.126882688]: Map initialized with 55 points. [ INFO] [1512121439.804722637]: S-PTAM stereo node initialized. No matches found for triangulation [ WARN] [1512121448.093345035]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512121448.131745312]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512121448.171222709]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512121448.211453107]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512121448.252256678]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512121448.291483971]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512121448.331144212]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1512121448.371911450]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points

taihup commented 6 years ago

I think you still have a wrong calibration because you should have a number similar to 0.114 as baseline. Please, check again the calibration and check the rectefied images. Send me a set of these last ones.

Dorothy-2016 commented 6 years ago

Hi @taihup ,I calibration again,and now the baseline is 0.12 which is consistent with the factory parameter. but the result is also like what I send you before.I really cannot find what the problem is. So I record a bag data,which include camera info,left raw image ,left rect image,right raw image,right rect image to send to you. Here is the link: https://drive.google.com/drive/folders/13zCEJivoO2v3v9UosYKE2-5wLOo09enY Thanks again!

taihup commented 6 years ago

I can't open the link, you should give me permission.

Dorothy-2016 commented 6 years ago

Sorry! my fault! Here is the new link: https://drive.google.com/file/d/1udDpLdhLvypuR74PLpNXI4vIzjzYNNyl/view?usp=sharing

Dorothy-2016 commented 6 years ago

Hi@taihup, how about the .bag file what I send? Have you run it and get some result？ Really thanks for your help for such a long time!

Dorothy-2016 commented 6 years ago

and I also try the standalone，which the compile has succeed, and the execute file and .so file has generated,but when I run the execute file,it said it cannot find .so file,but the .so file is just there,the result is like the follow: 2017-12-14 16-53-39

taihup commented 6 years ago

Hi Dorothy, I am full of work so I can't compromise to test your dataset (I would like to do but I do not have time).

Respect to the standalone error, it is really weird. Try to clean the whole build directory and compile it again. Paste here the output of the cmake and make commands, maybe there is something wrong during the compilation process.