stensalumets
commented
1 year ago Have you found a solution to the problem? Having the same issue..
Open SeaEastXu opened 2 years ago
stensalumets
commented
1 year ago Have you found a solution to the problem? Having the same issue..
started roslaunch server http://thinkstation-p920:38373/
SUMMARY
CLEAR PARAMETERS
PARAMETERS
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) record (rosbag/record) 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 [11331] ROS_MASTER_URI=http://localhost:11311
setting /run_id to 6aa9e2fe-3be9-11ed-a2e9-8cc68119fcb7 process[rosout-1]: started with pid [11375] started core service [/rosout] process[svo-2]: started with pid [11383] process[svo_gui-3]: started with pid [11384] process[pose_to_tf-4]: started with pid [11385] process[dvs_mapping-5]: started with pid [11386] process[trigger_map_expansion-6]: started with pid [11387] process[dvs_tracking-7]: started with pid [11388] process[dvs_bootstrapping-8]: started with pid [11389] process[tf_to_camera_marker-9]: started with pid [11391] [ INFO] [1664010923.500156010]: Found parameter: pipeline_is_stereo, value: 0 [ WARN] [1664010923.501745132]: Cannot find value for parameter: set_initial_attitude_from_gravity, assigning default: 1 [ WARN] [1664010923.502205683]: Cannot find value for parameter: automatic_reinitialization, assigning default: 0 [ INFO] [1664010923.503386602]: Found parameter: calib_file, value: /home/xuhaidong/catkin_evo/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] [1664010923.504487761]: Cannot find value for parameter: klt_max_level, assigning default: 4 [ WARN] [1664010923.504994154]: Cannot find value for parameter: klt_min_level, assigning default: 0 [ INFO] [1664010923.506238938]: Found parameter: reprojector_max_n_kfs, value: 5 [ INFO] [1664010923.507398129]: Found parameter: max_fts, value: 180 [ INFO] [1664010923.508651229]: Found parameter: grid_size, value: 5 [ WARN] [1664010923.509109362]: Cannot find value for parameter: reproject_unconverged_seeds, assigning default: 1 [ INFO] [1664010923.510328535]: Found parameter: reprojector_affine_est_offset, value: 1 process[snakify-10]: started with pid [11396] [ INFO] [1664010923.511555219]: Found parameter: reprojector_affine_est_gain, value: 0 [ WARN] [1664010923.511994487]: Cannot find value for parameter: init_min_features, assigning default: 100 [ WARN] [1664010923.512422536]: Cannot find value for parameter: init_min_tracked, assigning default: 80 [ WARN] [1664010923.512848633]: Cannot find value for parameter: init_min_inliers, assigning default: 70 [ INFO] [1664010923.514019104]: Found parameter: init_min_disparity, value: 25 [ WARN] [1664010923.514462264]: Cannot find value for parameter: init_min_features_factor, assigning default: 2 [ WARN] [1664010923.514896876]: Cannot find value for parameter: reproj_err_thresh, assigning default: 2 [ WARN] [1664010923.515299271]: Cannot find value for parameter: init_disparity_pivot_ratio, assigning default: 0.5 [ WARN] [1664010923.515703779]: Cannot find value for parameter: init_method, assigning default: FivePoint [ INFO] [1664010923.516713702]: Found parameter: grid_size, value: 5 [ INFO] [1664010923.517719821]: Found parameter: n_pyr_levels, value: 2 [ INFO] [1664010923.518720641]: Found parameter: detector_threshold_primary, value: 8 [ INFO] [1664010923.519726689]: Found parameter: detector_threshold_secondary, value: 200 [ WARN] [1664010923.520097794]: Cannot find value for parameter: use_edgelets, assigning default: 1 [ INFO] [1664010923.521096946]: Found parameter: n_pyr_levels, value: 2 [ WARN] [1664010923.521469989]: Cannot find value for parameter: use_threaded_depthfilter, assigning default: 1 [ INFO] [1664010923.522503513]: Found parameter: seed_convergence_sigma2_thresh, value: 100 [ INFO] [1664010923.523500626]: Found parameter: scan_epi_unit_sphere, value: 0 process[rqt_evo-11]: started with pid [11397] [ INFO] [1664010923.524543342]: Found parameter: depth_filter_affine_est_offset, value: 1 [ INFO] [1664010923.525537113]: Found parameter: depth_filter_affine_est_gain, value: 0 [ INFO] [1664010923.526370994]: Found parameter: max_fts, value: 180 [ WARN] [1664010923.526693361]: Cannot find value for parameter: max_seeds_ratio, assigning default: 3 [ INFO] [1664010923.527628174]: Found parameter: max_n_kfs, value: 30 [ INFO] [1664010923.528588223]: Found parameter: use_imu, value: 0 process[dvs_renderer_left-12]: started with pid [11398] [ INFO] [1664010923.558822078]: Found parameter: auto_trigger, value: 1 I20220924 17:15:23.559906 11389 Bootstrapper.cpp:18] Bootstrapper initially idle: 0 [ INFO] [1664010923.561384452]: Found parameter: camera_name, value: DAVIS-evo [ INFO] [1664010923.562605345]: Found parameter: calib_file, value: /home/xuhaidong/catkin_evo/src/rpg_dvs_evo_open/dvs_tracking/parameters/calib/DAVIS-evo.yaml [ INFO] [1664010923.563250408]: camera calibration URL: file:///home/xuhaidong/catkin_evo/src/rpg_dvs_evo_open/dvs_tracking/parameters/calib/DAVIS-evo.yaml process[rviz-13]: started with pid [11431] [ INFO] [1664010923.572131425]: Found parameter: world_frame_id, value: /world [ INFO] [1664010923.572933906]: Found parameter: dvs_bootstrap_frame_id, value: /camera_0 [ INFO] [1664010923.580756844]: Found parameter: camera_name, value: DAVIS-evo [ INFO] [1664010923.582599932]: Found parameter: calib_file, value: /home/xuhaidong/catkin_evo/src/rpg_dvs_evo_open/dvs_tracking/parameters/calib/DAVIS-evo.yaml [ WARN] [1664010923.583478369]: Cannot find value for parameter: trace_dir, assigning default: /home/xuhaidong/catkin_evo/src/rpg_dvs_evo_open/svo/trace [ INFO] [1664010923.583731597]: camera calibration URL: file:///home/xuhaidong/catkin_evo/src/rpg_dvs_evo_open/dvs_tracking/parameters/calib/DAVIS-evo.yaml [ WARN] [1664010923.583902147]: Cannot find value for parameter: quality_min_fts, assigning default: 50 [ WARN] [1664010923.584223440]: Cannot find value for parameter: quality_max_drop_fts, assigning default: 40 [ WARN] [1664010923.584526644]: Cannot find value for parameter: relocalization_max_trials, assigning default: 50 [ INFO] [1664010923.585868301]: Found parameter: poseoptim_prior_lambda, value: 0 [ INFO] [1664010923.586781433]: Found parameter: poseoptim_using_unit_sphere, value: 0 [ INFO] [1664010923.587623297]: Found parameter: img_align_prior_lambda_rot, value: 0 [ INFO] [1664010923.588449710]: Found parameter: img_align_prior_lambda_trans, value: 0 [ WARN] [1664010923.588751669]: Cannot find value for parameter: structure_optimization_max_pts, assigning default: 20 [ INFO] [1664010923.589565002]: Found parameter: map_scale, value: 0.6 [ INFO] [1664010923.590379988]: Found parameter: kfselect_criterion, value: DOWNLOOKING [ WARN] [1664010923.590680529]: Cannot find value for parameter: kfselect_min_dist, assigning default: 0.12 [ INFO] [1664010923.591505177]: Found parameter: kfselect_numkfs_upper_thresh, value: 120 [ INFO] [1664010923.592326400]: Found parameter: kfselect_numkfs_lower_thresh, value: 70 [ INFO] [1664010923.593142740]: Found parameter: kfselect_min_dist_metric, value: 0.1 [ INFO] [1664010923.593953688]: Found parameter: kfselect_min_angle, value: 20 [ INFO] [1664010923.594792984]: Found parameter: kfselect_min_disparity, value: 30 [ WARN] [1664010923.595116301]: Cannot find value for parameter: kfselect_min_num_frames_between_kfs, assigning default: 2 [ INFO] [1664010923.595986947]: Found parameter: img_align_max_level, value: 4 [ INFO] [1664010923.596761846]: Found parameter: img_align_min_level, value: 2 [ WARN] [1664010923.597060409]: Cannot find value for parameter: img_align_robustification, assigning default: 0 [ WARN] [1664010923.597357511]: Cannot find value for parameter: img_align_use_distortion_jacobian, assigning default: 0 [ INFO] [1664010923.598323382]: Found parameter: img_align_est_illumination_gain, value: 0 [ INFO] [1664010923.599679834]: Found parameter: img_align_est_illumination_offset, value: 0 process[record-14]: started with pid [11476] [ INFO] [1664010923.600466407]: Found parameter: poseoptim_thresh, value: 2 [ INFO] [1664010923.601247402]: Found parameter: update_seeds_with_old_keyframes, value: 1 [ INFO] [1664010923.602020814]: Found parameter: use_async_reprojectors, value: 0 [ INFO] [1664010923.602190423]: DepthFilter: created. [ INFO] [1664010923.602212470]: DepthFilter: Start thread. [ WARN] [1664010923.602730283]: Cannot find value for parameter: T_world_imuinit/tz, assigning default: 0 [ WARN] [1664010923.603459434]: Cannot find value for parameter: T_world_imuinit/ty, assigning default: 0 [ WARN] [1664010923.604174126]: Cannot find value for parameter: T_world_imuinit/tx, assigning default: 0 [ INFO] [1664010923.606644904]: Found parameter: T_world_imuinit/qz, value: 0 [ INFO] [1664010923.608810694]: Found parameter: T_world_imuinit/qy, value: 0 [ INFO] [1664010923.610543571]: Found parameter: T_world_imuinit/qx, value: 0 [ INFO] [1664010923.612700994]: Found parameter: T_world_imuinit/qw, value: 1 [ WARN] [1664010923.613394546]: Cannot find value for parameter: publish_img_pyr_level, assigning default: 0 [ WARN] [1664010923.614092437]: Cannot find value for parameter: publish_every_nth_img, assigning default: 1 [ WARN] [1664010923.614542609]: Cannot find value for parameter: weight_scale_translation, assigning default: 0 [ INFO] [1664010923.616682256]: Found parameter: publish_every_nth_dense_input, value: 5 [ WARN] [1664010923.618248208]: Cannot find value for parameter: weight_scale_rotation, assigning default: 0 [ INFO] [1664010923.618605490]: Found parameter: unwarp_estimate_n_it, value: 75 [ INFO] [1664010923.620703501]: Found parameter: unwarp_estimate_eps, value: 0.0001 [ WARN] [1664010923.621449121]: Cannot find value for parameter: publish_world_in_cam_frame, assigning default: 1 [ INFO] [1664010923.621487124]: Found parameter: camera_name, value: DAVIS-evo [ WARN] [1664010923.622912406]: Cannot find value for parameter: publish_map_every_frame, assigning default: 0 [ WARN] [1664010923.623600541]: Cannot find value for parameter: publish_point_display_time, assigning default: 0 [ INFO] [1664010923.624077925]: Found parameter: unwarp_estimate_pyramid_lvls, value: 2 [ WARN] [1664010923.624383898]: Cannot find value for parameter: publish_seeds, assigning default: 1 [ WARN] [1664010923.624961955]: Cannot find value for parameter: publish_seeds_uncertainty, assigning default: 0 [ INFO] [1664010923.625177058]: Found parameter: calib_file, value: /home/xuhaidong/catkin_evo/src/rpg_dvs_evo_open/dvs_tracking/parameters/calib/DAVIS-evo.yaml [ WARN] [1664010923.625462145]: Cannot find value for parameter: trace_pointcloud, assigning default: 0 [ INFO] [1664010923.626580816]: camera calibration URL: file:///home/xuhaidong/catkin_evo/src/rpg_dvs_evo_open/dvs_tracking/parameters/calib/DAVIS-evo.yaml [ INFO] [1664010923.626789937]: Found parameter: publish_marker_scale, value: 0.5 I20220924 17:15:23.628573 11388 tracker.cpp:58] Field of view: 62.6128 [ INFO] [1664010923.660093431]: Found parameter: dvs_frame_id, value: /dvs_evo [ INFO] [1664010923.662734104]: Found parameter: world_frame_id, value: /world [ INFO] [1664010923.664676186]: Found parameter: radius_search, value: 0.2 [ INFO] [1664010923.666025415]: Found parameter: min_num_neighbors, value: 2 [ INFO] [1664010923.666893328]: Found parameter: median_filter_size, value: 15 [ INFO] [1664010923.668113561]: Found parameter: dvs_frame_id, value: /dvs_evo [ INFO] [1664010923.669456496]: Found parameter: dvs_bootstrap_frame_id, value: /camera_0 [ INFO] [1664010923.672419169]: Found parameter: world_frame_id, value: /world [ INFO] [1664010923.673259237]: Found parameter: auto_trigger, value: 1 I20220924 17:15:23.673393 11588 tracker.cpp:150] Spawned tracking thread. [ WARN] [1664010923.686773807]: Less than 5 x 1G of space free on disk with 'evo_track_pose2.bag.active'. [ INFO] [1664010923.702184756]: Found parameter: events_to_recreate_kf, value: 1000000 [ INFO] [1664010923.710056612]: Found parameter: fov_virtual_camera_deg, value: 80 [ INFO] [1664010923.718305074]: Found parameter: use_imu, value: 0 [ INFO] [1664010923.720962177]: Found parameter: virtual_width, value: 240 [ INFO] [1664010923.725126954]: Found parameter: runlc, value: 0 [ INFO] [1664010923.725349832]: SvoNode: Started Image loop. [ WARN] [1664010923.725920896]: Cannot find value for parameter: remote_key_topic, assigning default: svo/remote_key [ INFO] [1664010923.731663595]: Found parameter: cam0_topic, value: /events/image_raw [ INFO] [1664010923.741587816]: Found parameter: virtual_height, value: 180 I20220924 17:15:23.741658 11386 depth_defocus_node.cpp:63] Focal length of virtual camera: 143.01 pixels I20220924 17:15:24.001956 11389 camera.cpp:21] Distortion type: plumb_bob [ INFO] [1664010924.008050632]: Found parameter: rate_hz, value: 30 [ INFO] [1664010924.010212935]: Found parameter: frame_size, value: 15000 [ INFO] [1664010924.012570924]: Found parameter: local_frame_size, value: 5000 [ INFO] [1664010924.014908869]: Found parameter: enable_visualizations, value: 1 [ INFO] [1664010924.017153467]: Found parameter: motion_corrected_topic, value: /events/image_raw [ INFO] [1664010924.056293521]: Found parameter: min_depth, value: 0.4 [ INFO] [1664010924.057549590]: Found parameter: max_depth, value: 5 [ INFO] [1664010924.058949104]: Found parameter: num_depth_cells, value: 100 [ INFO] [1664010924.060319708]: Found parameter: adaptive_threshold_kernel_size, value: 5 [ INFO] [1664010924.061693220]: Found parameter: adaptive_threshold_c, value: 7 [ INFO] [1664010924.074330276]: Found parameter: auto_trigger, value: 1 [ INFO] [1664010924.083298729]: Found parameter: optical_flow_topic, value: /evo/bootstrap/optical_flow [ INFO] [1664010924.152411140]: Found parameter: min_step_size, value: 15000 [ INFO] [1664010924.153821451]: Found parameter: events_scale_factor, value: 4 [ INFO] [1664010924.155126569]: Found parameter: activation_threshold_min, value: 10 [ INFO] [1664010924.156455951]: Found parameter: activation_threshold_patch_size, value: 13 [ INFO] [1664010924.157740987]: Found parameter: median_filter_size, value: 1 [ INFO] [1664010924.159017251]: Found parameter: median_filtering, value: 0 [ INFO] [1664010924.160301386]: Found parameter: adaptive_thresholding, value: 1 [ INFO] [1664010930.637079467]: Found parameter: discard_events_when_idle, value: 1 OpenCV Error: Iterations do not converge (The algorithm stopped before its convergence. The correlation is going to be minimized. Images may be uncorrelated or non-overlapped) in findTransformECC, file /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/video/src/ecc.cpp, line 530 W20220924 17:15:42.754611 11701 motion_correction.cpp:69] The algorithm stopped before its convergence. The correlation is going to be minimized. Images may be uncorrelated or non-overlapped Aborted at 1664010942 (unix time) try "date -d @1664010942" if you are using GNU date PC: @ 0x0 (unknown) SIGSEGV (@0x7b98d0142840) received by PID 11389 (TID 0x7f58d5dea700) from PID 18446744072905566272; stack trace: @ 0x7f5936256f10 (unknown) @ 0x7f5936c54fcd motion_correction::drawEventsMotionCorrectedOpticalFlow() @ 0x7f5936c4f860 dvs_bootstrapping::EventsFramesBootstrapper::integrateEvents() @ 0x7f5936c50da0 dvs_bootstrapping::EventsFramesBootstrapper::integratingThread() @ 0x7f59368f54c0 (unknown) @ 0x7f59360006db start_thread @ 0x7f593633961f clone @ 0x0 (unknown) [dvs_bootstrapping-8] process has died [pid 11389, exit code -11, cmd /home/xuhaidong/catkin_evo/devel/lib/dvs_bootstrapping/dvs_bootstrapping_ef_ros events:=/dvs/events remote_key:=/evo/remote_key __name:=dvs_bootstrapping __log:=/home/xuhaidong/.ros/log/6aa9e2fe-3be9-11ed-a2e9-8cc68119fcb7/dvs_bootstrapping-8.log]. log file: /home/xuhaidong/.ros/log/6aa9e2fe-3be9-11ed-a2e9-8cc68119fcb7/dvs_bootstrapping-8*.log
^C[record-14] killing on exit [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_tracking-7] killing on exit [trigger_map_expansion-6] killing on exit [dvs_mapping-5] killing on exit [pose_to_tf-4] killing on exit [svo_gui-3] killing on exit [pcl::KdTreeFLANN::setInputCloud] Cannot create a KDTree with an empty input cloud! [svo-2] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done