Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

It seems that the dvs_tracking cannot work? #11

Open
KwanWaiPang opened this issue Sep 20, 2021 · 10 comments
Open

It seems that the dvs_tracking cannot work? #11

KwanWaiPang opened this issue Sep 20, 2021 · 10 comments

Comments

@KwanWaiPang
Copy link

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!
@zebrajiahao
Copy link

Could you show all terminal information logs:)

@xixixixiangxianguestc
Copy link

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

@lienharj
Copy link

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

@KwanWaiPang
Copy link
Author

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.

@zebrajiahao
Copy link

zebrajiahao commented Nov 1, 2021 •
edited
Loading

@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

@xixixixiangxianguestc
Copy link

@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
Copy link

zebrajiahao commented Nov 2, 2021 •
edited
Loading

@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).

@xixixixiangxianguestc
Copy link

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

@youngOS1998
Copy link

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

@SeaEastXu
Copy link

I also have the same error. @xixixixiangxianguestc @youngOS1998

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Assignees
No one assigned
Labels
None yet
Projects
None yet
Milestone
No milestone
Development

No branches or pull requests
6 participants
@SeaEastXu @zebrajiahao @KwanWaiPang @lienharj @youngOS1998 @xixixixiangxianguestc