no matter which launch file, after running, it will appear error: ================================================================================REQUIRED process [dvs_tracking-7] has died! process has died [pid 4972, exit code -11, cmd /home/kwanwaipang/catkin_ws_dvs/devel/lib/dvs_tracking/dvs_tracking_ros events:=/dvs/events remote_key:=/evo/remote_key pointcloud:=dvs_mapping/pointcloud __name:=dvs_tracking __log:=/home/kwanwaipang/.ros/log/b690b020-19d6-11ec-bb55-4074e020cd12/dvs_tracking-7.log]. log file: /home/kwanwaipang/.ros/log/b690b020-19d6-11ec-bb55-4074e020cd12/dvs_tracking-7*.log Initiating shutdown!

Could you show all terminal information logs:)

Hello, I have the same problem. Have you solved it now?

================================================================================REQUIRED process [dvs_tracking-7] has died! process has died [pid 22729, exit code -11, cmd /home/scx/catkin_ws_dvs/devel/lib/dvs_tracking/dvs_tracking_ros events:=/dvs/events remote_key:=/evo/remote_key pointcloud:=dvs_mapping/pointcloud __name:=dvs_tracking __log:=/home/scx/.ros/log/28fb0ecc-3317-11ec-879c-08002733e6bf/dvs_tracking-7.log]. log file: /home/scx/.ros/log/28fb0ecc-3317-11ec-879c-08002733e6bf/dvs_tracking-7*.log Initiating shutdown!

[ INFO] [1634893512.158066902]: Found parameter: min_depth, value: 0.4 [ INFO] [1634893512.162070559]: Found parameter: max_depth, value: 5 [ INFO] [1634893512.162827472]: Found parameter: num_depth_cells, value: 100 [ INFO] [1634893512.163540563]: Found parameter: adaptive_threshold_kernel_size, value: 5 [ INFO] [1634893512.164218385]: Found parameter: adaptive_threshold_c, value: 10 [ INFO] [1634893512.171110850]: Found parameter: auto_trigger, value: 1 [rviz-13] killing on exit [dvs_renderer_left-12] killing on exit [rqt_evo-11] killing on exit [snakify-10] killing on exit [tf_to_camera_marker-9] killing on exit [dvs_bootstrapping-8] killing on exit Traceback (most recent call last): File "/home/scx/catkin_ws_dvs/src/rpg_dvs_evo_open/evo_utils/src/evo_utils/tf_to_camera_markers.py", line 9, in from tf import TransformListener File "/opt/ros/melodic/lib/python2.7/dist-packages/tf/init.py", line 30, in from tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationException File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/init.py", line 39, in from .buffer_interface import File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/buffer_interface.py", line 32, in import roslib; roslib.load_manifest('tf2_ros') File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py", line 64, in load_manifest sys.path = _generate_python_path(package_name, _rospack) + sys.path File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py", line 97, in _generate_python_path m = rospack.get_manifest(pkg) File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 171, in get_manifest return self._load_manifest(name) File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 215, in _load_manifest retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name, rospack=self) File "/usr/lib/python2.7/dist-packages/rospkg/manifest.py", line 410, in parse_manifest_file from rosdep2.rospack import init_rospack_interface, is_ros_package, is_system_dependency, is_view_empty File "/usr/lib/python2.7/dist-packages/rosdep2/init.py", line 45, in from .lookup import RosdepDefinition, RosdepView, RosdepLookup, \ File "/usr/lib/python2.7/dist-packages/rosdep2/lookup.py", line 44, in from .sources_list import SourcesListLoader File "/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py", line 30, in from future import print_function KeyboardInterrupt [dvs_tracking-7] killing on exit [trigger_map_expansion-6] killing on exit Traceback (most recent call last): File "/home/scx/catkin_ws_dvs/src/rpg_dvs_evo_open/dvs_mapping/src/trigger_map_expansion.py", line 11, in from tf import TransformListener File "/opt/ros/melodic/lib/python2.7/dist-packages/tf/init.py", line 30, in from tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationException File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/init.py", line 39, in from .buffer_interface import File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/buffer_interface.py", line 32, in import roslib; roslib.load_manifest('tf2_ros') File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py", line 64, in load_manifest sys.path = _generate_python_path(package_name, _rospack) + sys.path File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py", line 97, in _generate_python_path m = rospack.get_manifest(pkg) File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 171, in get_manifest return self._load_manifest(name) File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 215, in _load_manifest retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name, rospack=self) File "/usr/lib/python2.7/dist-packages/rospkg/manifest.py", line 410, in parse_manifest_file [dvs_mapping-5] killing on exit from rosdep2.rospack import init_rospack_interface, is_ros_package, is_system_dependency, is_view_empty File "/usr/lib/python2.7/dist-packages/rosdep2/init.py", line 45, in from .lookup import RosdepDefinition, RosdepView, RosdepLookup, \ File "/usr/lib/python2.7/dist-packages/rosdep2/lookup.py", line 44, in from .sources_list import SourcesListLoader File "/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py", line 50, in from .gbpdistro_support import get_gbprepo_as_rosdep_data, download_gbpdistro_as_rosdep_data File "/usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py", line 18, in from .platforms.debian import APT_INSTALLER File "/usr/lib/python2.7/dist-packages/rosdep2/platforms/debian.py", line 45, in from .pip import PIP_INSTALLER File "/usr/lib/python2.7/dist-packages/rosdep2/platforms/pip.py", line 33, in import pkg_resources File "/usr/lib/python2.7/dist-packages/pkg_resources/init.py", line 403, in darwinVersionString = re.compile(r"darwin-(\d+).(\d+).(\d+)-(.)") File "/usr/lib/python2.7/re.py", line 194, in compile return _compile(pattern, flags) File "/usr/lib/python2.7/re.py", line 249, in _compile p = sre_compile.compile(pattern, flags) File "/usr/lib/python2.7/sre_compile.py", line 576, in compile code = _code(p, flags) File "/usr/lib/python2.7/sre_compile.py", line 561, in _code _compile(code, p.data, flags) File "/usr/lib/python2.7/sre_compile.py", line 151, in _compile _compile(code, av[1], flags) File "/usr/lib/python2.7/sre_compile.py", line 124, in _compile elif _simple(av) and op is not REPEAT: File "/usr/lib/python2.7/sre_compile.py", line 431, in _simple return lo == hi == 1 and av[2][0][0] != SUBPATTERN File "/usr/lib/python2.7/sre_parse.py", line 143, in getitem if isinstance(index, slice): KeyboardInterrupt [pose_to_tf-4] killing on exit [svo_gui-3] killing on exit Traceback (most recent call last): File "/home/scx/catkin_ws_dvs/src/rpg_dvs_evo_open/dvs_bootstrapping/src/pose_to_tf.py", line 4, in import tf File "/opt/ros/melodic/lib/python2.7/dist-packages/tf/init.py", line 30, in from tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationException File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/init.py", line 39, in from .buffer_interface import File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/buffer_interface.py", line 32, in import roslib; roslib.load_manifest('tf2_ros') File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py", line 64, in load_manifest sys.path = _generate_python_path(package_name, _rospack) + sys.path File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py", line 97, in _generate_python_path m = rospack.get_manifest(pkg) File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 171, in get_manifest return self._load_manifest(name) File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 215, in _load_manifest retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name, rospack=self) File "/usr/lib/python2.7/dist-packages/rospkg/manifest.py", line 414, in parse_manifest_file _static_rosdep_view = init_rospack_interface() File "/usr/lib/python2.7/dist-packages/rosdep2/rospack.py", line 61, in init_rospack_interface return lookup.get_rosdep_view(DEFAULT_VIEW_KEY) File "/usr/lib/python2.7/dist-packages/rosdep2/lookup.py", line 625, in get_rosdep_view view = self.create_rosdep_view(view_key, dependencies + [view_key], verbose=verbose) File "/usr/lib/python2.7/dist-packages/rosdep2/lookup.py", line 570, in create_rosdep_view view.merge(db_entry, verbose=verbose) File "/usr/lib/python2.7/dist-packages/rosdep2/lookup.py", line 222, in merge for dep_name, dep_data in update_entry.rosdep_data.items(): KeyboardInterrupt Traceback (most recent call last): File "/opt/ros/melodic/lib/rqt_gui/rqt_gui", line 13, in sys.exit(main.main()) File "/opt/ros/melodic/lib/python2.7/dist-packages/rqt_gui/main.py", line 65, in main hash(os.environ['ROS_PACKAGE_PATH']))) File "/opt/ros/melodic/lib/python2.7/dist-packages/qt_gui/main.py", line 444, in main app = self.create_application(argv) File "/opt/ros/melodic/lib/python2.7/dist-packages/rqt_gui/main.py", line 69, in create_application app = super(Main, self).create_application(argv) File "/opt/ros/melodic/lib/python2.7/dist-packages/qt_gui/main.py", line 210, in create_application app = QApplication(argv) KeyboardInterrupt Traceback (most recent call last): File "/home/scx/catkin_ws_dvs/src/rpg_dvs_evo_open/rqt_evo/scripts/rqt_evo", line 10, in sys.exit(main.main(sys.argv, standalone=plugin)) # , plugin_argument_provider=Evo.add_arguments File "/opt/ros/melodic/lib/python2.7/dist-packages/rqt_gui/main.py", line 65, in main hash(os.environ['ROS_PACKAGE_PATH']))) File "/opt/ros/melodic/lib/python2.7/dist-packages/qt_gui/main.py", line 444, in main app = self.create_application(argv) File "/opt/ros/melodic/lib/python2.7/dist-packages/rqt_gui/main.py", line 69, in create_application app = super(Main, self).create_application(argv) File "/opt/ros/melodic/lib/python2.7/dist-packages/qt_gui/main.py", line 210, in create_application app = QApplication(argv) KeyboardInterrupt [svo-2] killing on exit [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

I had the same issue with opencv4.5, I downgraded to 4.2. Helped for me in this case, but the program still dies halfway during the rosbags (examples), see open Issue

Hello, I have the same problem. Have you solved it now?

================================================================================REQUIRED process [dvs_tracking-7] has died!

process has died [pid 22729, exit code -11, cmd /home/scx/catkin_ws_dvs/devel/lib/dvs_tracking/dvs_tracking_ros events:=/dvs/events remote_key:=/evo/remote_key pointcloud:=dvs_mapping/pointcloud __name:=dvs_tracking __log:=/home/scx/.ros/log/28fb0ecc-3317-11ec-879c-08002733e6bf/dvs_tracking-7.log]. log file: /home/scx/.ros/log/28fb0ecc-3317-11ec-879c-08002733e6bf/dvs_tracking-7*.log Initiating shutdown!

[ INFO] [1634893512.158066902]: Found parameter: min_depth, value: 0.4 [ INFO] [1634893512.162070559]: Found parameter: max_depth, value: 5 [ INFO] [1634893512.162827472]: Found parameter: num_depth_cells, value: 100 [ INFO] [1634893512.163540563]: Found parameter: adaptive_threshold_kernel_size, value: 5 [ INFO] [1634893512.164218385]: Found parameter: adaptive_threshold_c, value: 10 [ INFO] [1634893512.171110850]: Found parameter: auto_trigger, value: 1 [rviz-13] killing on exit [dvs_renderer_left-12] killing on exit [rqt_evo-11] killing on exit [snakify-10] killing on exit [tf_to_camera_marker-9] killing on exit [dvs_bootstrapping-8] killing on exit Traceback (most recent call last): File "/home/scx/catkin_ws_dvs/src/rpg_dvs_evo_open/evo_utils/src/evo_utils/tf_to_camera_markers.py", line 9, in from tf import TransformListener File "/opt/ros/melodic/lib/python2.7/dist-packages/tf/init.py", line 30, in from tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationException File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/init.py", line 39, in from .buffer_interface import File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/buffer_interface.py", line 32, in import roslib; roslib.load_manifest('tf2_ros') File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py", line 64, in load_manifest sys.path = _generate_python_path(package_name, _rospack) + sys.path File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py", line 97, in _generate_python_path m = rospack.get_manifest(pkg) File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 171, in get_manifest return self._load_manifest(name) File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 215, in _load_manifest retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name, rospack=self) File "/usr/lib/python2.7/dist-packages/rospkg/manifest.py", line 410, in parse_manifest_file from rosdep2.rospack import init_rospack_interface, is_ros_package, is_system_dependency, is_view_empty File "/usr/lib/python2.7/dist-packages/rosdep2/init.py", line 45, in from .lookup import RosdepDefinition, RosdepView, RosdepLookup, File "/usr/lib/python2.7/dist-packages/rosdep2/lookup.py", line 44, in from .sources_list import SourcesListLoader File "/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py", line 30, in from future import print_function KeyboardInterrupt [dvs_tracking-7] killing on exit [trigger_map_expansion-6] killing on exit Traceback (most recent call last): File "/home/scx/catkin_ws_dvs/src/rpg_dvs_evo_open/dvs_mapping/src/trigger_map_expansion.py", line 11, in from tf import TransformListener File "/opt/ros/melodic/lib/python2.7/dist-packages/tf/init.py", line 30, in from tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationException File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/init.py", line 39, in from .buffer_interface import File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/buffer_interface.py", line 32, in import roslib; roslib.load_manifest('tf2_ros') File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py", line 64, in load_manifest sys.path = _generate_python_path(package_name, _rospack) + sys.path File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py", line 97, in _generate_python_path m = rospack.get_manifest(pkg) File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 171, in get_manifest return self._load_manifest(name) File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 215, in _load_manifest retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name, rospack=self) File "/usr/lib/python2.7/dist-packages/rospkg/manifest.py", line 410, in parse_manifest_file [dvs_mapping-5] killing on exit from rosdep2.rospack import init_rospack_interface, is_ros_package, is_system_dependency, is_view_empty File "/usr/lib/python2.7/dist-packages/rosdep2/init.py", line 45, in from .lookup import RosdepDefinition, RosdepView, RosdepLookup, File "/usr/lib/python2.7/dist-packages/rosdep2/lookup.py", line 44, in from .sources_list import SourcesListLoader File "/usr/lib/python2.7/dist-packages/rosdep2/sources_list.py", line 50, in from .gbpdistro_support import get_gbprepo_as_rosdep_data, download_gbpdistro_as_rosdep_data File "/usr/lib/python2.7/dist-packages/rosdep2/gbpdistro_support.py", line 18, in from .platforms.debian import APT_INSTALLER File "/usr/lib/python2.7/dist-packages/rosdep2/platforms/debian.py", line 45, in from .pip import PIP_INSTALLER File "/usr/lib/python2.7/dist-packages/rosdep2/platforms/pip.py", line 33, in import pkg_resources File "/usr/lib/python2.7/dist-packages/pkg_resources/init.py", line 403, in darwinVersionString = re.compile(r"darwin-(\d+).(\d+).(\d+)-(.)") File "/usr/lib/python2.7/re.py", line 194, in compile return _compile(pattern, flags) File "/usr/lib/python2.7/re.py", line 249, in _compile p = sre_compile.compile(pattern, flags) File "/usr/lib/python2.7/sre_compile.py", line 576, in compile code = _code(p, flags) File "/usr/lib/python2.7/sre_compile.py", line 561, in _code _compile(code, p.data, flags) File "/usr/lib/python2.7/sre_compile.py", line 151, in _compile _compile(code, av[1], flags) File "/usr/lib/python2.7/sre_compile.py", line 124, in _compile elif _simple(av) and op is not REPEAT: File "/usr/lib/python2.7/sre_compile.py", line 431, in _simple return lo == hi == 1 and av[2][0][0] != SUBPATTERN File "/usr/lib/python2.7/sre_parse.py", line 143, in getitem if isinstance(index, slice): KeyboardInterrupt [pose_to_tf-4] killing on exit [svo_gui-3] killing on exit Traceback (most recent call last): File "/home/scx/catkin_ws_dvs/src/rpg_dvs_evo_open/dvs_bootstrapping/src/pose_to_tf.py", line 4, in import tf File "/opt/ros/melodic/lib/python2.7/dist-packages/tf/init.py", line 30, in from tf2_ros import TransformException as Exception, ConnectivityException, LookupException, ExtrapolationException File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/init.py", line 39, in from .buffer_interface import File "/opt/ros/melodic/lib/python2.7/dist-packages/tf2_ros/buffer_interface.py", line 32, in import roslib; roslib.load_manifest('tf2_ros') File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py", line 64, in load_manifest sys.path = _generate_python_path(package_name, _rospack) + sys.path File "/opt/ros/melodic/lib/python2.7/dist-packages/roslib/launcher.py", line 97, in _generate_python_path m = rospack.get_manifest(pkg) File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 171, in get_manifest return self._load_manifest(name) File "/usr/lib/python2.7/dist-packages/rospkg/rospack.py", line 215, in _load_manifest retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name, rospack=self) File "/usr/lib/python2.7/dist-packages/rospkg/manifest.py", line 414, in parse_manifest_file _static_rosdep_view = init_rospack_interface() File "/usr/lib/python2.7/dist-packages/rosdep2/rospack.py", line 61, in init_rospack_interface return lookup.get_rosdep_view(DEFAULT_VIEW_KEY) File "/usr/lib/python2.7/dist-packages/rosdep2/lookup.py", line 625, in get_rosdep_view view = self.create_rosdep_view(view_key, dependencies + [view_key], verbose=verbose) File "/usr/lib/python2.7/dist-packages/rosdep2/lookup.py", line 570, in create_rosdep_view view.merge(db_entry, verbose=verbose) File "/usr/lib/python2.7/dist-packages/rosdep2/lookup.py", line 222, in merge for dep_name, dep_data in update_entry.rosdep_data.items(): KeyboardInterrupt Traceback (most recent call last): File "/opt/ros/melodic/lib/rqt_gui/rqt_gui", line 13, in sys.exit(main.main()) File "/opt/ros/melodic/lib/python2.7/dist-packages/rqt_gui/main.py", line 65, in main hash(os.environ['ROS_PACKAGE_PATH']))) File "/opt/ros/melodic/lib/python2.7/dist-packages/qt_gui/main.py", line 444, in main app = self.create_application(argv) File "/opt/ros/melodic/lib/python2.7/dist-packages/rqt_gui/main.py", line 69, in create_application app = super(Main, self).create_application(argv) File "/opt/ros/melodic/lib/python2.7/dist-packages/qt_gui/main.py", line 210, in create_application app = QApplication(argv) KeyboardInterrupt Traceback (most recent call last): File "/home/scx/catkin_ws_dvs/src/rpg_dvs_evo_open/rqt_evo/scripts/rqt_evo", line 10, in sys.exit(main.main(sys.argv, standalone=plugin)) # , plugin_argument_provider=Evo.add_arguments File "/opt/ros/melodic/lib/python2.7/dist-packages/rqt_gui/main.py", line 65, in main hash(os.environ['ROS_PACKAGE_PATH']))) File "/opt/ros/melodic/lib/python2.7/dist-packages/qt_gui/main.py", line 444, in main app = self.create_application(argv) File "/opt/ros/melodic/lib/python2.7/dist-packages/rqt_gui/main.py", line 69, in create_application app = super(Main, self).create_application(argv) File "/opt/ros/melodic/lib/python2.7/dist-packages/qt_gui/main.py", line 210, in create_application app = QApplication(argv) KeyboardInterrupt [svo-2] killing on exit [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done

I think this program can not work at all.

@lienharj @KwanWaiPang I downgraded opencv to 3.2.0 943e564d0a8d412f84c38464e69b539b ... logging to /home/zebra/.ros/log/c5d96ea4-3bb0-11ec-bce8-2cf05d6ca09d/roslaunch-Dragon-30860.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://172.18.20.20:37191/

SUMMARY

CLEAR PARAMETERS

/svo/

PARAMETERS

/calib_file: /home/zebra/catki...
/camera_name: DAVIS-evo
/dvs_bootstrap_frame_id: /camera_0
/dvs_bootstrapping/activation_threshold_min: 10
/dvs_bootstrapping/activation_threshold_patch_size: 13
/dvs_bootstrapping/adaptive_thresholding: True
/dvs_bootstrapping/auto_trigger: True
/dvs_bootstrapping/enable_visualizations: True
/dvs_bootstrapping/events_offset: 0
/dvs_bootstrapping/events_scale_factor: 4.0
/dvs_bootstrapping/frame_size: 15000
/dvs_bootstrapping/local_frame_size: 5000
/dvs_bootstrapping/median_filter_size: 1
/dvs_bootstrapping/median_filtering: False
/dvs_bootstrapping/min_step_size: 15000
/dvs_bootstrapping/motion_corrected_topic: /events/image_raw
/dvs_bootstrapping/optical_flow_topic: /evo/bootstrap/op...
/dvs_bootstrapping/rate_hz: 30
/dvs_bootstrapping/unwarp_estimate_eps: 0.0001
/dvs_bootstrapping/unwarp_estimate_n_it: 75
/dvs_bootstrapping/unwarp_estimate_pyramid_lvls: 2
/dvs_frame_id: /dvs_evo
/dvs_mapping/accumulate_local_map_once_every: 25
/dvs_mapping/adaptive_threshold_c: 7
/dvs_mapping/adaptive_threshold_kernel_size: 5
/dvs_mapping/auto_trigger: True
/dvs_mapping/events_to_recreate_kf: 1000000
/dvs_mapping/frame_size: 2048
/dvs_mapping/global_point_cloud_skip_first: 15
/dvs_mapping/half_patchsize: 1
/dvs_mapping/median_filter_size: 15
/dvs_mapping/min_batch_size: 20000
/dvs_mapping/min_num_neighbors: 2
/dvs_mapping/min_num_neighbors_global_map: 2
/dvs_mapping/radius_search: 0.2
/dvs_mapping/radius_search_global_map: 0.05
/dvs_mapping/skip_batches: 0
/dvs_mapping/type_focus_measure: 0
/dvs_mapping/voxel_filter_leaf_size: 0.01
/dvs_renderer_left/display_method: red-blue
/dvs_tracking/auto_trigger: True
/dvs_tracking/batch_size: 500
/dvs_tracking/discard_events_when_idle: True
/dvs_tracking/event_map_overlap_rate: 15
/dvs_tracking/events_per_kf: 100000
/dvs_tracking/frame_size: 5000
/dvs_tracking/map_blur: 3
/dvs_tracking/max_event_rate: 4000000
/dvs_tracking/max_iterations: 200
/dvs_tracking/min_map_size: 200
/dvs_tracking/min_n_keypoints: 2000
/dvs_tracking/noise_rate: 10000
/dvs_tracking/pose_mean_filter_size: 5
/dvs_tracking/pyramid_levels: 2
/dvs_tracking/step_size: 10000
/dvs_tracking/weight_scale: 1.0
/fov_virtual_camera_deg: 80.0
/max_depth: 5
/min_depth: 0.4
/num_depth_cells: 100
/pose_to_tf/relative_to_first_pose: False
/pose_to_tf/source_topic_name: /svo/pose_cam/0
/rosdistro: melodic
/rosversion: 1.14.12
/snakify/length: 100000
/svo/T_world_imuinit/qw: 1
/svo/T_world_imuinit/qx: 0
/svo/T_world_imuinit/qy: 0
/svo/T_world_imuinit/qz: 0
/svo/calib_file: /home/zebra/catki...
/svo/cam0_topic: /events/image_raw
/svo/depth_filter_affine_est_gain: False
/svo/depth_filter_affine_est_offset: True
/svo/detector_threshold_primary: 8
/svo/detector_threshold_secondary: 200
/svo/grid_size: 5
/svo/img_align_est_illumination_gain: False
/svo/img_align_est_illumination_offset: False
/svo/img_align_max_level: 3
/svo/img_align_min_level: 2
/svo/img_align_prior_lambda_rot: 0.0
/svo/img_align_prior_lambda_trans: 0.0
/svo/init_min_disparity: 25
/svo/kfselect_criterion: DOWNLOOKING
/svo/kfselect_min_angle: 20
/svo/kfselect_min_disparity: 30
/svo/kfselect_min_dist_metric: 0.1
/svo/kfselect_numkfs_lower_thresh: 70
/svo/kfselect_numkfs_upper_thresh: 120
/svo/map_scale: 0.6
/svo/max_depth_inv: 0.05
/svo/max_fts: 180
/svo/max_n_kfs: 30
/svo/mean_depth_inv: 0.3
/svo/min_depth_inv: 1.0
/svo/n_pyr_levels: 2
/svo/pipeline_is_stereo: False
/svo/poseoptim_prior_lambda: 0.0
/svo/poseoptim_thresh: 2.0
/svo/poseoptim_using_unit_sphere: False
/svo/publish_every_nth_dense_input: 5
/svo/publish_marker_scale: 0.5
/svo/reprojector_affine_est_gain: False
/svo/reprojector_affine_est_offset: True
/svo/reprojector_max_n_kfs: 5
/svo/runlc: False
/svo/scan_epi_unit_sphere: False
/svo/seed_convergence_sigma2_thresh: 100
/svo/update_seeds_with_old_keyframes: True
/svo/use_async_reprojectors: False
/svo/use_imu: False
/tf_to_camera_marker/marker_scale: 0.2
/trigger_map_expansion/baseline_threshold: 0.1
/trigger_map_expansion/coverage_threshold: 0.4
/trigger_map_expansion/number_of_initial_maps_to_skip: 0
/trigger_map_expansion/rate: 3
/trigger_map_expansion/visibility_threshold: 0.9
/virtual_height: 180
/virtual_width: 240
/world_frame_id: /world

NODES / dvs_bootstrapping (dvs_bootstrapping/dvs_bootstrapping_ef_ros) dvs_mapping (dvs_mapping/dvs_mapping_ros) dvs_renderer_left (dvs_renderer/dvs_renderer) dvs_tracking (dvs_tracking/dvs_tracking_ros) pose_to_tf (dvs_bootstrapping/pose_to_tf.py) rqt_evo (rqt_evo/rqt_evo) rviz (rviz/rviz) snakify (evo_utils/snakify.py) svo (svo_ros/svo_node) svo_gui (rqt_gui/rqt_gui) tf_to_camera_marker (evo_utils/tf_to_camera_markers.py) trigger_map_expansion (dvs_mapping/trigger_map_expansion.py)

auto-starting new master process[master]: started with pid [30870] ROS_MASTER_URI=http://172.18.20.20:11311

setting /run_id to c5d96ea4-3bb0-11ec-bce8-2cf05d6ca09d process[rosout-1]: started with pid [30881] started core service [/rosout] process[svo-2]: started with pid [30889] process[svo_gui-3]: started with pid [30890] process[pose_to_tf-4]: started with pid [30891] process[dvs_mapping-5]: started with pid [30892] process[trigger_map_expansion-6]: started with pid [30893] process[dvs_tracking-7]: started with pid [30894] [ INFO] [1635839096.862815921]: Found parameter: pipeline_is_stereo, value: 0 [ WARN] [1635839096.863535831]: Cannot find value for parameter: set_initial_attitude_from_gravity, assigning default: 1 [ WARN] [1635839096.863753548]: Cannot find value for parameter: automatic_reinitialization, assigning default: 0 [ INFO] [1635839096.864339441]: Found parameter: calib_file, value: /home/zebra/catkin_ws/src/rpg_dvs_evo_open/dvs_tracking/parameters/calib/ncamera/DAVIS-evo.yaml loaded 1 cameras name = cam0 size = [240, 180] Projection = Pinhole Focal length = (197.316, 197.248) Principal point = (128.193, 110.949) Distortion: RadTan(0, 0, 0, 0) [ WARN] [1635839096.866171697]: Cannot find value for parameter: klt_max_level, assigning default: 4 [ ARN] [1635839096.866395070]: Cannot find value for parameter: klt_min_level, assigning default: 0 [ INFO] [1635839096.866942391]: Found parameter: reprojector_max_n_kfs, value: 5 [ INFO] [1635839096.867519921]: Found parameter: max_fts, value: 180 [ INFO] [1635839096.868049892]: Found parameter: grid_size, value: 5 [ WARN] [1635839096.868279245]: Cannot find value for parameter: reproject_unconverged_seeds, assigning default: 1 [ INFO] [1635839096.868798628]: Found parameter: reprojector_affine_est_offset, value: 1 [ INFO] [1635839096.869335916]: Found parameter: reprojector_affine_est_gain, value: 0 [ WARN] [1635839096.869554584]: Cannot find value for parameter: init_min_features, assigning default: 100 [ WARN] [1635839096.869749003]: Cannot find value for parameter: init_min_tracked, assigning default: 80 [ WARN] [1635839096.869932504]: Cannot find value for parameter: init_min_inliers, assigning default: 70 [ INFO] [1635839096.870427327]: Found parameter: init_min_disparity, value: 25 [ WARN] [1635839096.870614356]: Cannot find value for parameter: init_min_features_factor, assigning default: 2 [ WARN] [1635839096.870808315]: Cannot find value for parameter: reproj_err_thresh, assigning default: 2 [ WARN] [1635839096.870994173]: Cannot find value for parameter: init_disparity_pivot_ratio, assigning default: 0.5 [ WARN] [1635839096.871176694]: Cannot find value for parameter: init_method, assigning default: FivePoint [ INFO] [1635839096.871655270]: Found parameter: grid_size, value: 5 [ INFO] [1635839096.872176630]: Found parameter: n_pyr_levels, value: 2 [ INFO] [1635839096.872681787]: Found parameter: detector_threshold_primary, value: 8 [ INFO] [1635839096.873245982]: Found parameter: detector_threshold_secondary, value: 200 [ WARN] [1635839096.873492822]: Cannot find value for parameter: use_edgelets, assigning default: 1 [ INFO] [1635839096.874004886]: Found parameter: n_pyr_levels, value: 2 [ WARN] [1635839096.874185793]: Cannot find value for parameter: use_threaded_depthfilter, assigning default: 1 [ INFO] [1635839096.874701233]: Found parameter: seed_convergence_sigma2_thresh, value: 100 [ INFO] [1635839096.875212622]: Found parameter: scan_epi_unit_sphere, value: 0 [ INFO] [1635839096.875726375]: Found parameter: depth_filter_affine_est_offset, value: 1 [ INFO] [1635839096.876233549]: Found parameter: depth_filter_affine_est_gain, value: 0 [ INFO] [1635839096.876734724]: Found parameter: max_fts, value: 180 [ WARN] [1635839096.876970225]: Cannot find value for parameter: max_seeds_ratio, assigning default: 3 [ INFO] [1635839096.877654679]: Found parameter: max_n_kfs, value: 30 [ INFO] [1635839096.878261457]: Found parameter: use_imu, value: 0 process[dvs_bootstrapping-8]: started with pid [30899] [ WARN] [1635839096.887307964]: Cannot find value for parameter: trace_dir, assigning default: /home/zebra/catkin_ws/src/rpg_dvs_evo_open/svo/trace [ WARN] [1635839096.887679565]: Cannot find value for parameter: quality_min_fts, assigning default: 50 [ WARN] [1635839096.887907831]: Cannot find value for parameter: quality_max_drop_fts, assigning default: 40 [ WARN] [1635839096.888103563]: Cannot find value for parameter: relocalization_max_trials, assigning default: 50 process[tf_to_camera_marker-9]: started with pid [30902] [ INFO] [1635839096.889498821]: Found parameter: poseoptim_prior_lambda, value: 0 [ INFO] [1635839096.890905662]: Found parameter: poseoptim_using_unit_sphere, value: 0 [ INFO] [1635839096.891515893]: Found parameter: img_align_prior_lambda_rot, value: 0 [ INFO] [1635839096.892159605]: Found parameter: img_align_prior_lambda_trans, value: 0 [ WARN] [1635839096.892371350]: Cannot find value for parameter: structure_optimization_max_pts, assigning default: 20 [ INFO] [1635839096.892895588]: Found parameter: map_scale, value: 0.6 [ INFO] [1635839096.893378989]: Found parameter: kfselect_criterion, value: DOWNLOOKING [ WARN] [1635839096.893571800]: Cannot find value for parameter: kfselect_min_dist, assigning default: 0.12 [ INFO] [1635839096.894097883]: Found parameter: kfselect_numkfs_upper_thresh, value: 120 [ INFO] [1635839096.894586376]: Found parameter: kfselect_numkfs_lower_thresh, value: 70 [ INFO] [1635839096.895093288]: Found parameter: kfselect_min_dist_metric, value: 0.1 [ INFO] [1635839096.895574987]: Found parameter: kfselect_min_angle, value: 20 [ INFO] [1635839096.896159635]: Found parameter: kfselect_min_disparity, value: 30 [ WARN] [1635839096.896357397]: Cannot find value for parameter: kfselect_min_num_frames_between_kfs, assigning default: 2 [ INFO] [1635839096.896873373]: Found parameter: img_align_max_level, value: 3 [ INFO] [1635839096.897367465]: Found parameter: img_align_min_level, value: 2 [ WARN] [1635839096.897570613]: Cannot find value for parameter: img_align_robustification, assigning default: 0 [ WARN] [1635839096.897763789]: Cannot find value for parameter: img_align_use_distortion_jacobian, assigning default: 0 [ INFO] [1635839096.898253223]: Found parameter: img_align_est_illumination_gain, value: 0 [ INFO] [1635839096.898728504]: Found parameter: img_align_est_illumination_offset, value: 0 [ INFO] [1635839096.899244738]: Found parameter: poseoptim_thresh, value: 2 [ INFO] [1635839096.899733637]: Found parameter: update_seeds_with_old_keyframes, value: 1 [ INFO] [1635839096.900222513]: Found parameter: use_async_reprojectors, value: 0 [ INFO] [1635839096.900408179]: DepthFilter: created. [ INFO] [1635839096.900441174]: DepthFilter: Start thread. [ WARN] [1635839096.900917425]: Cannot find value for parameter: T_world_imuinit/tz, assigning default: 0 [ WARN] [1635839096.901123989]: Cannot find value for parameter: T_world_imuinit/ty, assigning default: 0 [ WARN] [1635839096.901314542]: Cannot find value for parameter: T_world_imuinit/tx, assigning default: 0 [ INFO] [1635839096.901829489]: Found parameter: T_world_imuinit/qz, value: 0 [ INFO] [1635839096.902315825]: Found parameter: T_world_imuinit/qy, value: 0 [ INFO] [1635839096.902838531]: Found parameter: T_world_imuinit/qx, value: 0 [ INFO] [1635839096.903336699]: Found parameter: T_world_imuinit/qw, value: 1 [ WARN] [1635839096.903554584]: Cannot find value for parameter: publish_img_pyr_level, assigning default: 0 [ WARN] [1635839096.903753403]: Cannot find value for parameter: publish_every_nth_img, assigning default: 1 [ INFO] [1635839096.904251343]: Found parameter: publish_every_nth_dense_input, value: 5 [ WARN] [1635839096.904959582]: Cannot find value for parameter: publish_world_in_cam_frame, assigning default: 1 [ WARN] [1635839096.905164549]: Cannot find value for parameter: publish_map_every_frame, assigning default: 0 [ WARN] [1635839096.905360013]: Cannot find value for parameter: publish_point_display_time, assigning default: 0 [ WARN] [1635839096.905556003]: Cannot find value for parameter: publish_seeds, assigning default: 1 [ WARN] [1635839096.905755502]: Cannot find value for parameter: publish_seeds_uncertainty, assigning default: 0 [ WARN] [1635839096.905945228]: Cannot find value for parameter: trace_pointcloud, assigning default: 0 [ INFO] [1635839096.906475407]: Found parameter: publish_marker_scale, value: 0.5 process[snakify-10]: started with pid [30907] process[rqt_evo-11]: started with pid [30909] [ WARN] [1635839096.927879372]: Cannot find value for parameter: weight_scale_translation, assigning default: 0 [ WARN] [1635839096.930150234]: Cannot find value for parameter: weight_scale_rotation, assigning default: 0 [ INFO] [1635839096.931072089]: Found parameter: auto_trigger, value: 1 [ INFO] [1635839096.932155497]: Found parameter: camera_name, value: DAVIS-evo I20211102 15:44:56.931973 30899 Bootstrapper.cpp:18] Bootstrapper initially idle: 0 [ INFO] [1635839096.932863183]: Found parameter: calib_file, value: /home/zebra/catkin_ws/src/rpg_dvs_evo_open/dvs_tracking/parameters/calib/DAVIS-evo.yaml [ INFO] [1635839096.933290377]: camera calibration URL: file:///home/zebra/catkin_ws/src/rpg_dvs_evo_open/dvs_tracking/parameters/calib/DAVIS-evo.yaml I20211102 15:44:56.934372 30894 tracker.cpp:58] Field of view: 62.6128 [ INFO] [1635839096.934677922]: Found parameter: camera_name, value: DAVIS-evo [ INFO] [1635839096.939306368]: Found parameter: calib_file, value: /home/zebra/catkin_ws/src/rpg_dvs_evo_open/dvs_tracking/parameters/calib/DAVIS-evo.yaml [ INFO] [1635839096.941138948]: camera calibration URL: file:///home/zebra/catkin_ws/src/rpg_dvs_evo_open/dvs_tracking/parameters/calib/DAVIS-evo.yaml [ INFO] [1635839096.953204929]: Found parameter: world_frame_id, value: /world [ INFO] [1635839096.953916899]: Found parameter: dvs_frame_id, value: /dvs_evo [ INFO] [1635839096.954477431]: Found parameter: world_frame_id, value: /world [ INFO] [1635839096.955410279]: Found parameter: auto_trigger, value: 1 [ INFO] [1635839096.955567394]: Found parameter: dvs_bootstrap_frame_id, value: /camera_0 process[dvs_renderer_left-12]: started with pid [30915] I20211102 15:44:56.969797 30918 tracker.cpp:150] Spawned tracking thread. [ INFO] [1635839096.975185672]: Found parameter: camera_name, value: DAVIS-evo [ INFO] [1635839096.977715261]: Found parameter: calib_file, value: /home/zebra/catkin_ws/src/rpg_dvs_evo_open/dvs_tracking/parameters/calib/DAVIS-evo.yaml [ INFO] [1635839096.979315089]: camera calibration URL: file:///home/zebra/catkin_ws/src/rpg_dvs_evo_open/dvs_tracking/parameters/calib/DAVIS-evo.yaml process[rviz-13]: started with pid [30919] [ INFO] [1635839096.998931664]: Found parameter: use_imu, value: 0 [ INFO] [1635839096.999809110]: Found parameter: runlc, value: 0 [ WARN] [1635839097.000152032]: Cannot find value for parameter: remote_key_topic, assigning default: svo/remote_key [ INFO] [1635839097.003971061]: Found parameter: unwarp_estimate_n_it, value: 75 [ INFO] [1635839097.005498579]: Found parameter: unwarp_estimate_eps, value: 0.0001 [ INFO] [1635839097.006901297]: Found parameter: unwarp_estimate_pyramid_lvls, value: 2 [ INFO] [1635839097.008821313]: SvoNode: Started Image loop. I20211102 15:44:57.010067 30899 camera.cpp:21] Distortion type: plumb_bob [ INFO] [1635839097.010617091]: Found parameter: cam0_topic, value: /events/image_raw [ INFO] [1635839097.014497737]: Found parameter: radius_search, value: 0.2 [ INFO] [1635839097.015165062]: Found parameter: min_num_neighbors, value: 2 [ INFO] [1635839097.015748688]: Found parameter: median_filter_size, value: 15 [ INFO] [1635839097.016372931]: Found parameter: dvs_frame_id, value: /dvs_evo [ INFO] [1635839097.017117511]: Found parameter: dvs_bootstrap_frame_id, value: /camera_0 [ INFO] [1635839097.017901205]: Found parameter: world_frame_id, value: /world [ INFO] [1635839097.018216582]: Found parameter: rate_hz, value: 30 [ INFO] [1635839097.019116667]: Found parameter: frame_size, value: 15000 [ INFO] [1635839097.020046721]: Found parameter: local_frame_size, value: 5000 [ INFO] [1635839097.020915213]: Found parameter: enable_visualizations, value: 1 [ INFO] [1635839097.021445669]: Found parameter: motion_corrected_topic, value: /events/image_raw [ INFO] [1635839097.041716500]: Found parameter: events_to_recreate_kf, value: 1000000 [ INFO] [1635839097.044257393]: Found parameter: fov_virtual_camera_deg, value: 80 [ INFO] [1635839097.044898293]: Found parameter: virtual_width, value: 240 [ INFO] [1635839097.045449513]: Found parameter: virtual_height, value: 180 I20211102 15:44:57.045555 30892 depth_defocus_node.cpp:63] Focal length of virtual camera: 143.01 pixels [ INFO] [1635839097.050747374]: Found parameter: optical_flow_topic, value: /evo/bootstrap/optical_flow [ INFO] [1635839097.096132074]: Found parameter: min_depth, value: 0.4 [ INFO] [1635839097.096845050]: Found parameter: max_depth, value: 5 [ INFO] [1635839097.097986861]: Found parameter: num_depth_cells, value: 100 [ INFO] [1635839097.099189920]: Found parameter: adaptive_threshold_kernel_size, value: 5 [ INFO] [1635839097.100100077]: Found parameter: adaptive_threshold_c, value: 7 [ INFO] [1635839097.109605311]: Found parameter: auto_trigger, value: 1 [ INFO] [1635839097.116053760]: Found parameter: min_step_size, value: 15000 [ INFO] [1635839097.116959204]: Found parameter: events_scale_factor, value: 4 [ INFO] [1635839097.117524770]: Found parameter: activation_threshold_min, value: 10 [ INFO] [1635839097.118319310]: Found parameter: activation_threshold_patch_size, value: 13 [ INFO] [1635839097.119096123]: Found parameter: median_filter_size, value: 1 [ INFO] [1635839097.119678895]: Found parameter: median_filtering, value: 0 [ INFO] [1635839097.120248919]: Found parameter: adaptive_thresholding, value: 1 [ INFO] [1635839100.120231097]: Found parameter: discard_events_when_idle, value: 1 [ WARN] [1635839100.170945559]: Cannot find value for parameter: max_events_frames_saved_to_file, assigning default: 0 [ INFO] [1635839100.170952886]: DepthFilter: RESET. [ WARN] [1635839100.171288770]: Cannot find value for parameter: events_frames_filename_format, assigning default: /media/user/data/example/%06d.bmp [ INFO] [1635839100.519044888]: Init: Triangulated 566 points I20211102 15:45:04.881435 30892 depth_defocus_node.cpp:441] Received a map creation request I20211102 15:45:04.881467 30892 depth_defocus_node.cpp:442] Setting KF at time: 1621507163.686961883 [ INFO] [1635839104.882524628]: Found parameter: skip_batches, value: 0 [ WARN] [1635839104.882853949]: Cannot find value for parameter: skip_batches_for_reset, assigning default: 0 [ WARN] [1635839104.883162814]: Cannot find value for parameter: max_event_rate, assigning default: 10000000 [ INFO] [1635839104.883893842]: Found parameter: frame_size, value: 2048 [ INFO] [1635839104.884493469]: Found parameter: min_batch_size, value: 20000 [ INFO] [1635839105.099073673]: Found parameter: type_focus_measure, value: 0 QObject::connect: Cannot queue arguments of type 'QVector' (Make sure 'QVector' is registered using qRegisterMetaType().) QObject::connect: Cannot queue arguments of type 'QVector' (Make sure 'QVector' is registered using qRegisterMetaType().) [ INFO] [1635839105.155086153]: Found parameter: min_map_size, value: 200 I20211102 15:45:05.155123 30894 tracker.cpp:233] Received new map: 1817 points I20211102 15:45:05.155136 30894 tracker.cpp:236] Auto-triggering tracking [INFO] [1635839105.155517]: Received map: 1817 points [ INFO] [1635839105.156297006]: Found parameter: dvs_bootstrap_frame_id, value: /camera_0 [ INFO] [1635839105.157596535]: Found parameter: min_map_size, value: 200 [ INFO] [1635839105.158447475]: Found parameter: min_n_keypoints, value: 2000 [ INFO] [1635839105.171625658]: Found parameter: accumulate_local_map_once_every, value: 25 [ INFO] [1635839105.172259674]: Found parameter: global_point_cloud_skip_first, value: 15 [INFO] [1635839105.614690]: Sending update, coverage: 65.025462963 %, map visibility: 89.983489268 %, baseline/depth: 0.0580851152259 I20211102 15:45:05.616144 30892 depth_defocus_node.cpp:205] Received command: update I20211102 15:45:05.618506 30892 depth_defocus_node.cpp:441] Received a map creation request I20211102 15:45:05.618517 30892 depth_defocus_node.cpp:442] Setting KF at time: 1621507164.088328883 [ INFO] [1635839105.812976186]: Found parameter: type_focus_measure, value: 0 I20211102 15:45:05.827996 30894 tracker.cpp:233] Received new map: 1861 points [INFO] [1635839105.830272]: Received map: 1861 points [INFO] [1635839106.312694]: Sending update, coverage: 65.7060185185 %, map visibility: 87.8022568512 %, baseline/depth: 0.10081185698 I20211102 15:45:06.359174 30892 depth_defocus_node.cpp:205] Received command: update I20211102 15:45:06.363677 30892 depth_defocus_node.cpp:441] Received a map creation request I20211102 15:45:06.363701 30892 depth_defocus_node.cpp:442] Setting KF at time: 1621507164.631556883 [ INFO] [1635839106.609013008]: Found parameter: type_focus_measure, value: 0 I20211102 15:45:06.630158 30894 tracker.cpp:233] Received new map: 1561 points [INFO] [1635839106.631467]: Received map: 1561 points [INFO] [1635839106.933997]: Sending update, coverage: 59.9722222222 %, map visibility: 88.0204996797 %, baseline/depth: 0.0150734942843 I20211102 15:45:06.935431 30892 depth_defocus_node.cpp:205] Received command: update I20211102 15:45:06.940430 30892 depth_defocus_node.cpp:441] Received a map creation request I20211102 15:45:06.940456 30892 depth_defocus_node.cpp:442] Setting KF at time: 1621507165.033324883 [ INFO] [1635839107.117254494]: Found parameter: type_focus_measure, value: 0 [INFO] [1635839107.133969]: Received map: 2044 points

@zebrajiahao Hello, I used the version of opencv3.2.0, and the above problem still exists. pkg-config --modversion opencv 3.2.0 I found that there is such an error, [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! Are there any requirements for the version of pcl?

@zebrajiahao Hello, I used the version of opencv3.2.0, and the above problem still exists. pkg-config --modversion opencv 3.2.0 I found that there is such an error, [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! Are there any requirements for the version of pcl?

It looks like no data has been read. And if you have wechat, we can discuss it(same name as account).

Yes, you can add my WeChat through: scxspingit，Thanks~

@xixixixiangxianguestc hello, i have the same issue. Have you solved it?

I also have the same error. @xixixixiangxianguestc @youngOS1998

uzh-rpg / rpg_dvs_evo_open

It seems that the dvs_tracking cannot work? #11

================================================================================REQUIRED process [dvs_tracking-7] has died!

SUMMARY