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uzh-rpg / rpg_dvs_evo_open

Implementation of EVO (RA-L 17)
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SparseImgAlign: no features to track #22

Open alexjunholee opened 2 years ago

alexjunholee commented 2 years ago

Hi, I've been testing the code on Ubuntu 18.04,

And ran the code roslaunch dvs_tracking live.launch auto_trigger:=false camera_name:=DAVIS-evo events_topic:=/dvs/events

with the provided evo_flyingroom.bag file.

However, I keep getting the SVO tracking loss, SparseImgAlign: no features to track!

I tried changing the parameters, however, it is weird that the preset given does not works. I've attached the log below, and would any of the warnings below will be relevant to this error?

Thanks in advance!


SUMMARY
========

CLEAR PARAMETERS
 * /svo/

PARAMETERS
 * /calib_file: /home/jhlee/ws_ev...
 * /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_scale_factor: 4.0
 * /dvs_bootstrapping/frame_size: 10000
 * /dvs_bootstrapping/local_frame_size: 5000
 * /dvs_bootstrapping/median_filter_size: 1
 * /dvs_bootstrapping/median_filtering: False
 * /dvs_bootstrapping/min_step_size: 5000
 * /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: 10
 * /dvs_mapping/adaptive_threshold_c: 7
 * /dvs_mapping/adaptive_threshold_kernel_size: 5
 * /dvs_mapping/auto_trigger: False
 * /dvs_mapping/events_to_recreate_kf: 1000000
 * /dvs_mapping/frame_size: 4096
 * /dvs_mapping/global_point_cloud_skip_first: 5
 * /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: 0.005
 * /dvs_reconstruction/init_cov: 10.0
 * /dvs_reconstruction/map_blur: 15
 * /dvs_reconstruction/sigma_m: 10.0
 * /dvs_reconstruction/window_size: 5000
 * /dvs_renderer_left/display_method: red-blue
 * /dvs_tracking/auto_trigger: False
 * /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: 150
 * /dvs_tracking/min_map_size: 0
 * /dvs_tracking/min_n_keypoints: 0
 * /dvs_tracking/noise_rate: 10000
 * /dvs_tracking/pose_mean_filter_size: 5
 * /dvs_tracking/pyramid_levels: 2
 * /dvs_tracking/step_size: 15000
 * /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: 1.14.10
 * /snakify/length: 100
 * /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/jhlee/ws_ev...
 * /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_reconstruction (dvs_reconstruction/dvs_reconstruction_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)

ROS_MASTER_URI=http://localhost:11311

process[svo-1]: started with pid [14850]
process[svo_gui-2]: started with pid [14851]
process[pose_to_tf-3]: started with pid [14852]
process[dvs_mapping-4]: started with pid [14853]
process[trigger_map_expansion-5]: started with pid [14854]
process[dvs_tracking-6]: started with pid [14855]
process[dvs_bootstrapping-7]: started with pid [14856]
process[dvs_reconstruction-8]: started with pid [14857]
process[tf_to_camera_marker-9]: started with pid [14858]
process[snakify-10]: started with pid [14859]
process[rqt_evo-11]: started with pid [14860]
process[dvs_renderer_left-12]: started with pid [14861]
[ INFO] [1654230606.209067072]: Found parameter: pipeline_is_stereo, value: 0
process[rviz-13]: started with pid [14884]
[ WARN] [1654230606.212348800]: Cannot find value for parameter: set_initial_attitude_from_gravity, assigning default: 1
[ WARN] [1654230606.213275895]: Cannot find value for parameter: automatic_reinitialization, assigning default: 0
[ INFO] [1654230606.216441423]: Found parameter: calib_file, value: /home/jhlee/ws_event/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] [1654230606.227937020]: Cannot find value for parameter: klt_max_level, assigning default: 4
[ WARN] [1654230606.228734322]: Cannot find value for parameter: klt_min_level, assigning default: 0
[ INFO] [1654230606.230253109]: Found parameter: reprojector_max_n_kfs, value: 5
[ INFO] [1654230606.231691166]: Found parameter: max_fts, value: 180
[ INFO] [1654230606.233122692]: Found parameter: grid_size, value: 5
[ WARN] [1654230606.233732580]: Cannot find value for parameter: reproject_unconverged_seeds, assigning default: 1
[ INFO] [1654230606.235650168]: Found parameter: reprojector_affine_est_offset, value: 1
[ INFO] [1654230606.239043292]: Found parameter: reprojector_affine_est_gain, value: 0
[ WARN] [1654230606.240234889]: Cannot find value for parameter: init_min_features, assigning default: 100
[ WARN] [1654230606.241462633]: Cannot find value for parameter: init_min_tracked, assigning default: 80
[ WARN] [1654230606.242709601]: Cannot find value for parameter: init_min_inliers, assigning default: 70
[ INFO] [1654230606.246221677]: Found parameter: init_min_disparity, value: 25
[ WARN] [1654230606.247386535]: Cannot find value for parameter: init_min_features_factor, assigning default: 2
[ WARN] [1654230606.248600608]: Cannot find value for parameter: reproj_err_thresh, assigning default: 2
[ WARN] [1654230606.249850842]: Cannot find value for parameter: init_disparity_pivot_ratio, assigning default: 0.5
[ WARN] [1654230606.251166495]: Cannot find value for parameter: init_method, assigning default: FivePoint
[ INFO] [1654230606.254575793]: Found parameter: grid_size, value: 5
[ INFO] [1654230606.257414840]: Found parameter: n_pyr_levels, value: 2
[ INFO] [1654230606.259910138]: Found parameter: detector_threshold_primary, value: 8
[ INFO] [1654230606.260749265]: Found parameter: detector_threshold_secondary, value: 200
[ WARN] [1654230606.261089149]: Cannot find value for parameter: use_edgelets, assigning default: 1
[ INFO] [1654230606.261941066]: Found parameter: n_pyr_levels, value: 2
[ WARN] [1654230606.262278528]: Cannot find value for parameter: use_threaded_depthfilter, assigning default: 1
[ INFO] [1654230606.263134960]: Found parameter: seed_convergence_sigma2_thresh, value: 100
[ INFO] [1654230606.264182244]: Found parameter: scan_epi_unit_sphere, value: 0
[ INFO] [1654230606.266365998]: Found parameter: depth_filter_affine_est_offset, value: 1
[ INFO] [1654230606.269186765]: Found parameter: depth_filter_affine_est_gain, value: 0
[ INFO] [1654230606.271391645]: Found parameter: max_fts, value: 180
[ WARN] [1654230606.272142475]: Cannot find value for parameter: max_seeds_ratio, assigning default: 3
[ INFO] [1654230606.282365438]: Found parameter: max_n_kfs, value: 30
[ INFO] [1654230606.283991740]: Found parameter: use_imu, value: 0
[ INFO] [1654230606.310293087]: Found parameter: auto_trigger, value: 1
I20220603 13:30:06.312415 14856 Bootstrapper.cpp:18] Bootstrapper initially idle: 0
[ INFO] [1654230606.315085303]: Found parameter: camera_name, value: DAVIS-evo
[ WARN] [1654230606.315360755]: Cannot find value for parameter: trace_dir, assigning default: /home/jhlee/ws_event/src/rpg_dvs_evo_open/svo/trace
[ WARN] [1654230606.315719102]: Cannot find value for parameter: quality_min_fts, assigning default: 50
[ WARN] [1654230606.316226507]: Cannot find value for parameter: quality_max_drop_fts, assigning default: 40
[ WARN] [1654230606.316556534]: Cannot find value for parameter: relocalization_max_trials, assigning default: 50
[ INFO] [1654230606.317627837]: Found parameter: poseoptim_prior_lambda, value: 0
[ INFO] [1654230606.317854508]: Found parameter: calib_file, value: /home/jhlee/ws_event/src/rpg_dvs_evo_open/dvs_tracking/parameters/calib/DAVIS-evo.yaml
[ INFO] [1654230606.318978025]: Found parameter: poseoptim_using_unit_sphere, value: 0
[ INFO] [1654230606.319891675]: camera calibration URL: file:///home/jhlee/ws_event/src/rpg_dvs_evo_open/dvs_tracking/parameters/calib/DAVIS-evo.yaml
[ INFO] [1654230606.320107188]: Found parameter: img_align_prior_lambda_rot, value: 0
[ INFO] [1654230606.320987917]: Found parameter: img_align_prior_lambda_trans, value: 0
[ WARN] [1654230606.321555817]: Cannot find value for parameter: structure_optimization_max_pts, assigning default: 20
[ INFO] [1654230606.322546835]: Found parameter: map_scale, value: 0.6
[ INFO] [1654230606.324072713]: Found parameter: kfselect_criterion, value: DOWNLOOKING
[ WARN] [1654230606.324524299]: Cannot find value for parameter: kfselect_min_dist, assigning default: 0.12
[ INFO] [1654230606.325765184]: Found parameter: kfselect_numkfs_upper_thresh, value: 120
[ INFO] [1654230606.326947160]: Found parameter: kfselect_numkfs_lower_thresh, value: 70
[ INFO] [1654230606.328041138]: Found parameter: kfselect_min_dist_metric, value: 0.1
[ INFO] [1654230606.329182363]: Found parameter: kfselect_min_angle, value: 20
[ INFO] [1654230606.330095334]: Found parameter: kfselect_min_disparity, value: 30
[ WARN] [1654230606.333263540]: Cannot find value for parameter: kfselect_min_num_frames_between_kfs, assigning default: 2
[ INFO] [1654230606.334149599]: Found parameter: img_align_max_level, value: 3
[ INFO] [1654230606.335167355]: Found parameter: img_align_min_level, value: 2
[ WARN] [1654230606.336477855]: Cannot find value for parameter: img_align_robustification, assigning default: 0
[ WARN] [1654230606.338864382]: Cannot find value for parameter: img_align_use_distortion_jacobian, assigning default: 0
[ INFO] [1654230606.339906272]: Found parameter: img_align_est_illumination_gain, value: 0
[ INFO] [1654230606.340694041]: Found parameter: img_align_est_illumination_offset, value: 0
[ INFO] [1654230606.341492002]: Found parameter: poseoptim_thresh, value: 2
[ INFO] [1654230606.342275174]: Found parameter: update_seeds_with_old_keyframes, value: 1
[ INFO] [1654230606.343446164]: Found parameter: use_async_reprojectors, value: 0
[ INFO] [1654230606.343650762]: DepthFilter: created.
[ INFO] [1654230606.343750864]: DepthFilter: Start thread.
[ WARN] [1654230606.344207343]: Cannot find value for parameter: T_world_imuinit/tz, assigning default: 0
[ WARN] [1654230606.344717311]: Cannot find value for parameter: T_world_imuinit/ty, assigning default: 0
[ WARN] [1654230606.345076860]: Cannot find value for parameter: T_world_imuinit/tx, assigning default: 0
[ INFO] [1654230606.346677908]: Found parameter: T_world_imuinit/qz, value: 0
[ INFO] [1654230606.347455257]: Found parameter: world_frame_id, value: /world
[ INFO] [1654230606.350960188]: Found parameter: T_world_imuinit/qy, value: 0
[ INFO] [1654230606.351180534]: Found parameter: dvs_bootstrap_frame_id, value: /camera_0
[ INFO] [1654230606.355359242]: Found parameter: T_world_imuinit/qx, value: 0
[ INFO] [1654230606.356222706]: Found parameter: T_world_imuinit/qw, value: 1
[ WARN] [1654230606.356568806]: Cannot find value for parameter: publish_img_pyr_level, assigning default: 0
[ WARN] [1654230606.356893005]: Cannot find value for parameter: publish_every_nth_img, assigning default: 1
[ INFO] [1654230606.357715941]: Found parameter: publish_every_nth_dense_input, value: 5
[ WARN] [1654230606.358602514]: Cannot find value for parameter: publish_world_in_cam_frame, assigning default: 1
[ WARN] [1654230606.358930436]: Cannot find value for parameter: publish_map_every_frame, assigning default: 0
[ WARN] [1654230606.359456519]: Cannot find value for parameter: publish_point_display_time, assigning default: 0
[ WARN] [1654230606.360010500]: Cannot find value for parameter: publish_seeds, assigning default: 1
[ WARN] [1654230606.360562839]: Cannot find value for parameter: publish_seeds_uncertainty, assigning default: 0
[ WARN] [1654230606.361133968]: Cannot find value for parameter: trace_pointcloud, assigning default: 0
[ WARN] [1654230606.362952583]: Cannot find value for parameter: weight_scale_translation, assigning default: 0
[ WARN] [1654230606.364089734]: Cannot find value for parameter: weight_scale_rotation, assigning default: 0
[ INFO] [1654230606.364978028]: Found parameter: camera_name, value: DAVIS-evo
[ INFO] [1654230606.366043031]: Found parameter: calib_file, value: /home/jhlee/ws_event/src/rpg_dvs_evo_open/dvs_tracking/parameters/calib/DAVIS-evo.yaml
[ INFO] [1654230606.366675058]: camera calibration URL: file:///home/jhlee/ws_event/src/rpg_dvs_evo_open/dvs_tracking/parameters/calib/DAVIS-evo.yaml
[ INFO] [1654230606.370137073]: Found parameter: publish_marker_scale, value: 0.5
I20220603 13:30:06.369302 14855 tracker.cpp:58] Field of view: 62.6128
[ INFO] [1654230606.408046445]: Found parameter: map_blur, value: 15
[ INFO] [1654230606.410995845]: Found parameter: dvs_frame_id, value: /dvs_evo
[ INFO] [1654230606.413750185]: Found parameter: window_size, value: 5000
[ INFO] [1654230606.416011685]: Found parameter: init_cov, value: 10
[ INFO] [1654230606.416770070]: Found parameter: sigma_m, value: 10
[ INFO] [1654230606.425639606]: Found parameter: unwarp_estimate_n_it, value: 75
[ INFO] [1654230606.426459565]: Found parameter: unwarp_estimate_eps, value: 0.0001
[ INFO] [1654230606.427212154]: Found parameter: unwarp_estimate_pyramid_lvls, value: 2
[ INFO] [1654230606.433954524]: Found parameter: world_frame_id, value: /world
[ INFO] [1654230606.447581312]: Found parameter: auto_trigger, value: 0
[ INFO] [1654230606.447817768]: Found parameter: camera_name, value: DAVIS-evo
[ INFO] [1654230606.450775512]: Found parameter: calib_file, value: /home/jhlee/ws_event/src/rpg_dvs_evo_open/dvs_tracking/parameters/calib/DAVIS-evo.yaml
[ INFO] [1654230606.453170954]: camera calibration URL: file:///home/jhlee/ws_event/src/rpg_dvs_evo_open/dvs_tracking/parameters/calib/DAVIS-evo.yaml
[ INFO] [1654230606.454203472]: Found parameter: use_imu, value: 0
[ INFO] [1654230606.455399691]: Found parameter: runlc, value: 0
[ WARN] [1654230606.455888280]: Cannot find value for parameter: remote_key_topic, assigning default: svo/remote_key
[ INFO] [1654230606.467620874]: SvoNode: Started Image loop.
[ INFO] [1654230606.472123081]: Found parameter: cam0_topic, value: /events/image_raw
[ INFO] [1654230606.479668529]: Found parameter: dvs_frame_id, value: /dvs_evo
[ INFO] [1654230606.480440005]: Found parameter: world_frame_id, value: /world
[ INFO] [1654230606.481360757]: Found parameter: camera_name, value: DAVIS-evo
[ INFO] [1654230606.482101867]: Found parameter: calib_file, value: /home/jhlee/ws_event/src/rpg_dvs_evo_open/dvs_tracking/parameters/calib/DAVIS-evo.yaml
[ INFO] [1654230606.482578941]: camera calibration URL: file:///home/jhlee/ws_event/src/rpg_dvs_evo_open/dvs_tracking/parameters/calib/DAVIS-evo.yaml
I20220603 13:30:06.483680 15014 tracker.cpp:150] Spawned tracking thread.
[ INFO] [1654230606.511812370]: Found parameter: radius_search, value: 0.2
[ INFO] [1654230606.512593665]: Found parameter: min_num_neighbors, value: 2
[ INFO] [1654230606.513561137]: Found parameter: median_filter_size, value: 15
[ INFO] [1654230606.515638176]: Found parameter: dvs_frame_id, value: /dvs_evo
[ INFO] [1654230606.541098583]: Found parameter: dvs_bootstrap_frame_id, value: /camera_0
[ INFO] [1654230606.542522827]: Found parameter: world_frame_id, value: /world
[ INFO] [1654230606.551403586]: Found parameter: events_to_recreate_kf, value: 1000000
[ INFO] [1654230606.553768089]: Found parameter: fov_virtual_camera_deg, value: 80
[ INFO] [1654230606.554750971]: Found parameter: virtual_width, value: 240
[ INFO] [1654230606.555776148]: Found parameter: virtual_height, value: 180
I20220603 13:30:06.556963 14853 depth_defocus_node.cpp:63] Focal length of virtual camera: 143.01 pixels
I20220603 13:30:06.678784 14856 camera.cpp:21] Distortion type: plumb_bob
[ INFO] [1654230606.683401865]: Found parameter: rate_hz, value: 30
[ INFO] [1654230606.684372713]: Found parameter: frame_size, value: 10000
[ INFO] [1654230606.685555220]: Found parameter: local_frame_size, value: 5000
[ INFO] [1654230606.686650451]: Found parameter: enable_visualizations, value: 1
[ INFO] [1654230606.689345894]: Found parameter: motion_corrected_topic, value: /events/image_raw
[ INFO] [1654230606.719264604]: Found parameter: optical_flow_topic, value: /evo/bootstrap/optical_flow
[ INFO] [1654230606.742759762]: Found parameter: dvs_frame_id, value: /dvs_evo
[ INFO] [1654230606.747854437]: Found parameter: min_depth, value: 0.4
[ INFO] [1654230606.748439415]: Found parameter: world_frame_id, value: /world
[ INFO] [1654230606.748780850]: Found parameter: max_depth, value: 5
[ INFO] [1654230606.749609039]: Found parameter: num_depth_cells, value: 100
[ INFO] [1654230606.750503475]: Found parameter: adaptive_threshold_kernel_size, value: 5
[ INFO] [1654230606.751203363]: Found parameter: adaptive_threshold_c, value: 7
[ INFO] [1654230606.757611040]: Found parameter: auto_trigger, value: 0
[ INFO] [1654230619.848036796, 1621933189.867400344]: Found parameter: discard_events_when_idle, value: 1
[ INFO] [1654230619.867998363, 1621933189.881573985]: Found parameter: min_step_size, value: 5000
[ INFO] [1654230619.871506713, 1621933189.881573985]: Found parameter: events_scale_factor, value: 4
[ INFO] [1654230619.874985271, 1621933189.888596113]: Found parameter: activation_threshold_min, value: 10
[ INFO] [1654230619.878249253, 1621933189.888596113]: Found parameter: activation_threshold_patch_size, value: 13
[ INFO] [1654230619.881612270, 1621933189.888596113]: Found parameter: median_filter_size, value: 1
[ INFO] [1654230619.885056177, 1621933189.895676929]: Found parameter: median_filtering, value: 0
[ INFO] [1654230619.888591069, 1621933189.895676929]: Found parameter: adaptive_thresholding, value: 1
[ INFO] [1654230619.939237153, 1621933189.930938694]: DepthFilter: RESET.
[ WARN] [1654230619.939352967, 1621933189.930938694]: Cannot find value for parameter: max_events_frames_saved_to_file, assigning default: 0
[ WARN] [1654230619.939681429, 1621933189.930938694]: Cannot find value for parameter: events_frames_filename_format, assigning default: /media/user/data/example/%06d.bmp
[ INFO] [1654230620.567679223, 1621933190.368656560]: Init: Triangulated 305 points
[ WARN] [1654230620.571055268, 1621933190.375696945]: Lost 58 features!
[ WARN] [1654230620.844022139, 1621933190.566367684]: Not enough matched features.
[ WARN] [1654230622.278418883, 1621933191.568936148]: Not enough matched features.
[ INFO] [1654230622.307378716, 1621933191.590077048]: SVO user input: START
[ INFO] [1654230622.321178301, 1621933191.597135774]: DepthFilter: RESET.
[ INFO] [1654230623.277309731, 1621933192.267329317]: Init: Triangulated 453 points
[ WARN] [1654230623.282450246, 1621933192.274382425]: Lost 48 features!
[ INFO] [1654230624.275339085, 1621933192.965906926]: SVO user input: START
[ INFO] [1654230624.313291141, 1621933192.994120771]: DepthFilter: RESET.
[ WARN] [1654230625.271730414, 1621933193.664730358]: Cannot set scene depth. Frame has no point-observations!
[ERROR] [1654230625.272181470, 1621933193.664730358]: SparseImgAlign: no features to track!
[ WARN] [1654230625.272215759, 1621933193.664730358]: Not enough matched features.
[ERROR] [1654230625.272295848, 1621933193.664730358]: SparseImgAlign: no features to track!
[ERROR] [1654230625.272387499, 1621933193.664730358]: SparseImgAlign: no features to track!
[ERROR] [1654230625.272463544, 1621933193.664730358]: SparseImgAlign: no features to track!
[ERROR] [1654230625.272557892, 1621933193.664730358]: SparseImgAlign: no features to track!
[ERROR] [1654230625.289151528, 1621933193.678842205]: SparseImgAlign: no features to track!
[ERROR] [1654230625.340071714, 1621933193.714125281]: SparseImgAlign: no features to track!
[ERROR] [1654230625.387398751, 1621933193.742460572]: SparseImgAlign: no features to track!
[ERROR] [1654230625.469447529, 1621933193.799021468]: SparseImgAlign: no features to track!
[ERROR] [1654230625.513216398, 1621933193.834253529]: SparseImgAlign: no features to track!