[ros-users] running vslam_system on mono data .
rajat goyal
gyl.rajat at gmail.com
Sun Jun 19 22:30:44 UTC 2011
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 .
--
Rajat Goyal
gyl.rajat at gmail.com
ah6,227
Bits Pilani Goa , India
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