sahandy
commented
9 years ago I faced the same problem using ROS Indigo + Ubuntu 14.04. Managed to fix other compile issues. But when I run it against a few sequences (as mentioned in docs), the process "benchmark" dies. Issue #12 is somehow like this. There, they recommended using another revision for g2o. The latest version already includes that. I hope there is a way to fix it.
I am trying to run roslaunch dvo_benchmark benchmark.launch dataset:=/home/{User_name}/rgbdslam_catkin_ws/rgbd_slam_benchmark/rgbd_dataset_freiburg1_360
I am getting the following message . Not sure how to fix the problem .
Any suggestions as to how to fix this ?
setting /run_id to 33e7da16-1ad9-11e5-8102-94103eb8250e process[rosout-1]: started with pid [23803] started core service [/rosout] process[benchmark-2]: started with pid [23815] ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressedDepth/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/compressed/set_parameters] } ros.roscpp: { Tried to advertise a service that is already advertised in this node [/dvo_vis/image/theora/set_parameters] } ros.dvo_benchmark.config: { tracker config: "First Level = 3, Last Level = 1, Max Iterations per Level = 50, Precision = 0.0001, Mu = 0.05, Use Initial Estimate = true, Use Weighting = true, Scale Estimator = TDistribution, Scale Estimator Param = 5, Influence Function = TDistribution, Influence Function Param = 5, Intensity Derivative Threshold = 0, Depth Derivative Threshold = 0" } ros.dvo_benchmark.config: { frontend config: "UseMultiThreading: 1 MaxTranslationalDistance: 0.2 MaxRotationalDistance: 0 MinEntropyRatio: 0.6 MinEquationSystemConstraintRatio: 0.3" } ros.dvo_benchmark.config: { backend config: "UseRobustKernel: 1 UseMultiThreading: 1 NewConstraintSearchRadius: 5 NewConstraintMinEntropyRatioCoarse: 0.03 NewConstraintMinEntropyRatioFine: 0.6 MinEquationSystemConstraintRatio: 0.3 MinConstraintDistance: 0 OptimizationUseDenseGraph: 0 OptimizationIterations: 50 OptimizationRemoveOutliers: 1 OptimizationOutlierWeightThreshold: 0.1 FinalOptimizationUseDenseGraph: 1 FinalOptimizationIterations: 1000 FinalOptimizationRemoveOutliers: 1 FinalOptimizationOutlierWeightThreshold: 0.1" } od before modify: 0.173903 od after modify: 0 kf before modify: 0.0299165 kf after modify: 0.0247405 addVertex: FATAL, a vertex with (negative) ID -6 cannot be inserted in the graph addVertex: FATAL, a vertex with (negative) ID -5 cannot be inserted in the graph addVertex: FATAL, a vertex with (negative) ID -4 cannot be inserted in the graph addVertex: FATAL, a vertex with (negative) ID -3 cannot be inserted in the graph addVertex: FATAL, a vertex with (negative) ID -2 cannot be inserted in the graph addVertex: FATAL, a vertex with (negative) ID -1 cannot be inserted in the graph addVertex: FATAL, a vertex with (negative) ID -14 cannot be inserted in the graph addVertex: FATAL, a vertex with (negative) ID -13 cannot be inserted in the graph addVertex: FATAL, a vertex with (negative) ID -12 cannot be inserted in the graph addVertex: FATAL, a vertex with (negative) ID -11 cannot be inserted in the graph addVertex: FATAL, a vertex with (negative) ID -10 cannot be inserted in the graph addVertex: FATAL, a vertex with (negative) ID -9 cannot be inserted in the graph addVertex: FATAL, a vertex with (negative) ID -8 cannot be inserted in the graph addVertex: FATAL, a vertex with (negative) ID -7 cannot be inserted in the graph benchmark: /home/{usr_name}/dvo_slam/dvo_slam/src/keyframe_graph.cpp:778: dvo_slam::KeyframePtr dvo_slam::internal::KeyframeGraphImpl::insertNewKeyframe(const Ptr&): Assertion `kv != 0' failed.