i am trying to run vslam_system[mono] on my video stream everything seems to go fine, but when the images are published on mono_vslam_node for processing , i get this , i guess the error has something to do Pose-estimator , can anybody provide me the solution to get rid of this error .

  

    process[mono_vslam_node-2]: started with pid [3244]

    process[vo_tracks_view-3]: started with pid [3245]

    [OK] Loaded RTC, quantization=4 bits

    [OK] RTC: overall 24816/9011200 (0.275%) zeros in float leaves

          overall 464923/9011200 (5.159%) zeros in uint8 leaves

    [INFO] [1308495150.180861213]: In callback, seq = 12

    [INFO] [1308495150.704369647]: In callback, seq = 28

    called PoseEstimator2d::estimate for frames 0 and 1

    Number of points: 2224, number of matches: 1313

    extractPnPData: frame1.pts.size() = 2224

    extractPnPData: good points 0

    Running SFM

  

    Final error: 74.159839

    Dumping SFM returned r

    -0.000004 

    0.000117 

    0.000001 

    Dumping SFM return T

    -0.458278  

    -0.118424 

    -3.801803 

    The number of epipolar inliers: 1164

    1164 points before filtering

    612 points left after filtering

    sba got 612 points

    Node projection matrix

    786.36       0 311.642      -0

    0 787.335 250.515      -0

    0       0       1      -0

    Node projection matrix

    786.323  -0.00216096      311.735     -1545.17

    -0.0284843      787.334      250.518     -1045.65

    -0.000117487 -3.89499e-06            1      -3.8018

    Added 612 points, 612 tracks

    sba.tracks.size = 612

    mono_vslam_node:            

    /opt/ros/diamondback/stacks/geometry/eigen/include/Eigen/src/Core/Assign.h:510: Derived&  Eigen::DenseBase<Derived>::lazyAssign(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::CwiseUnaryOp<Eigen::internal::scalar_quotient1_op<double>, const Eigen::Block<Eigen::Matrix<double, 3, 1, 0, 3, 1>, -0x00000000000000001, 1, false, true> >, Derived = Eigen::Matrix<double, 3, 1, 0, 3, 1>]: Assertion `rows() == other.rows() && cols() == other.cols()' failed.

    [mono_vslam_node-2] process has died [pid 3244, exit code -6].

    log files: /home/rajat/.ros/log/46362692-9a80-11e0-b777-0024216e1c6f/mono_vslam_node-2*.log

why is the good points 0 and i can't understand what this line is trying to say 

/opt/ros/diamondback/stacks/geometry/eigen/include/Eigen/src/Core/Assign.h:510: Derived&  Eigen::DenseBase<Derived>::lazyAssign(const Eigen::DenseBase<OtherDerived>&) [with OtherDerived = Eigen::CwiseUnaryOp<Eigen::internal::scalar_quotient1_op<double>, const Eigen::Block<Eigen::Matrix<double, 3, 1, 0, 3, 1>, -0x00000000000000001, 1, false, true> >, Derived = Eigen::Matrix<double, 3, 1, 0, 3, 1>]: Assertion `rows() == other.rows() && cols() == other.cols()' failed.

and the log file does not have a entry related to this error . 

I posted the same thing on answer.ros.org but got no response :( ,so i am now trying here .

ah6,227

Bits Pilani Goa , India