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uzh-rpg / rpg_esim

ESIM: an Open Event Camera Simulator
MIT License
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OpenCV Error: Assertion failed (isIdesrc/matrix_expressions.cpntity(expr)) in _InputArray, file /home/zhenzhen/opencv-3.4.15/modules/core/src/matrix_expressions.cpp, line 1843 #122

Open AAAACS opened 7 months ago

AAAACS commented 7 months ago

Hello sir,when i run roslaunch esim_ros esim.launch config:=cfg/example.conf,The following error occurred： ... logging to /home/zhenzhen/.ros/log/a9bd4574-f8cd-11ee-b897-4c1d964fc9c3/roslaunch-zhenzhen-Inspiron-5490-3472.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://zhenzhen-inspiron-5490:35403/

SUMMARY

PARAMETERS

NODES / dvs_renderer (dvs_renderer/dvs_renderer) esim_node (esim_ros/esim_node) optic_flow_viz (esim_visualization/optic_flow_converter.py)

ROS_MASTER_URI=http://localhost:11311/

process[esim_node-1]: started with pid [3491] process[dvs_renderer-2]: started with pid [3492] process[optic_flow_viz-3]: started with pid [3493] I0412 21:09:03.751674 3491 imu_factory.cpp:20] Initialize bias ... I0412 21:09:03.767575 3491 imu_factory.cpp:27] done. I0412 21:09:03.767596 3491 imu_factory.cpp:35] Initialize IMU ... I0412 21:09:03.767598 3491 imu_factory.cpp:44] done. I0412 21:09:03.768112 3491 data_provider_online_render.cpp:63] Horizontal FOV: 61.7164 deg I0412 21:09:03.768132 3491 data_provider_online_render.cpp:64] Vertical FOV: 48.2168 deg I0412 21:09:03.768136 3491 data_provider_online_render.cpp:65] Diagonal FOV: 73.4823 deg I0412 21:09:03.768146 3491 renderer_factory.cpp:75] Loading texture file from file: /home/zhenzhen/sim_ws/src/rpg_esim/event_camera_simulator/imp/imp_planar_renderer/textures/office.jpg. I0412 21:09:03.825806 3491 renderer_factory.cpp:85] Pre-filtering the texture with median filter of size: 13. [INFO] [1712927343.827895]: Started flow converter node [INFO] [1712927343.828650]: Step size between arrows: 7 [INFO] [1712927343.829299]: Scale factor: 0.07 [INFO] [1712927343.830015]: Upsample factor: x1 [INFO] [1712927343.830652]: Publish rate: 100 Hz I0412 21:09:04.158222 3491 renderer_factory.cpp:92] Pre-filtering the texture with gaussian filter of size: 2. I0412 21:09:04.242445 3491 planar_renderer.cpp:34] K_src = 2269.92 0000000 0002080 0000000 2269.92 0001560 0000000 0000000 0000001 I0412 21:09:04.242496 3491 planar_renderer.cpp:36] T_W_P = 01 00 00 00 00 -1 00 00 00 00 -1 -1 00 00 00 01 I0412 21:09:04.245700 3491 ros_publisher.cpp:37] Initializing ROS I0412 21:09:04.312254 3491 rosbag_writer.cpp:53] Empty output bag string: will not write to rosbag W0412 21:09:04.312268 3491 adaptive_sampling_benchmark_publisher.cpp:57] Empty benchmark folder string: will not write benchmark files W0412 21:09:04.312371 3491 synthetic_optic_flow_publisher.cpp:41] Empty output folder string: will not write synthetic optic flow files I0412 21:09:04.314716 3491 event_simulator.cpp:27] Converting the image to log image with eps = 0.001. OpenCV Error: Assertion failed (isIdesrc/matrix_expressions.cpntity(expr)) in _InputArray, file /home/zhenzhen/opencv-3.4.15/modules/core/src/matrix_expressions.cpp, line 1843 terminate called after throwing an instance of 'cv::Exception' what(): /home/zhenzhen/opencv-3.4.15/modules/core/src/matrix_expressions.cpp:1843: error: (-215) isIdentity(expr) in function _InputArray

Aborted at 1712927344 (unix time) try "date -d @1712927344" if you are using GNU date PC: @ 0x7f8d332a8e87 gsignal SIGABRT (@0x3e800000da3) received by PID 3491 (TID 0x7f8d362ae200) from PID 3491; stack trace: @ 0x7f8d332a8f10 (unknown) @ 0x7f8d332a8e87 gsignal @ 0x7f8d332aa7f1 abort @ 0x7f8d338ff957 (unknown) @ 0x7f8d33905ae6 (unknown) @ 0x7f8d33905b21 std::terminate() @ 0x7f8d33905d54 cxa_throw @ 0x7f8d351648a2 cv::error() @ 0x7f8d351649bf cv::error() @ 0x7f8d33da218a cv::_InputArray::_InputArray() @ 0x7f8d35f22de9 event_camera_simulator::EventSimulator::imageCallback() @ 0x7f8d35f1f281 event_camera_simulator::Simulator::dataProviderCallback() @ 0x7f8d35ceb4f6 event_camera_simulator::DataProviderOnlineMoving3DCameraRig::spinOnce() @ 0x7f8d35cdb9b9 event_camera_simulator::DataProviderBase::spin() @ 0x55c408c9e3b6 (unknown) @ 0x7f8d3328bc87 libc_start_main @ 0x55c408c9ecda (unknown) [esim_node-1] process has died [pid 3491, exit code -6, cmd /home/zhenzhen/sim_ws/devel/lib/esim_ros/esim_node --v=1 --vmodule=data_provider_from_folder=10 --flagfile=/home/zhenzhen/sim_ws/src/rpg_esim/event_camera_simulator/esim_ros/cfg/example.conf name:=esim_node log:=/home/zhenzhen/.ros/log/a9bd4574-f8cd-11ee-b897-4c1d964fc9c3/esim_node-1.log]. log file: /home/zhenzhen/.ros/log/a9bd4574-f8cd-11ee-b897-4c1d964fc9c3/esim_node-1*.log