[ros-users] running vslam_system on mono data .

[Tully Foote]

Hi Rajat,

Please do not double post questions, it adds overhead to the community
without adding benefit.  Our guidelines for asking questions are posted at
http://www.ros.org/wiki/Support

Tully

For others, you can follow up at
http://answers.ros.org/question/1280/trying-to-run-vslam_system-on-mono-video-data

On Sun, Jun 19, 2011 at 3:30 PM, rajat goyal <gyl.rajat at gmail.com> wrote:

> 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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>


-- 
Tully Foote
Systems Engineer
Willow Garage, Inc.
tfoote at willowgarage.com
(650) 475-2827
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