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trying to run vslam_system on mono video data

asked 2011-06-19 03:29:12 -0600

rajat gravatar image

updated 2011-06-19 03:29:36 -0600

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 .

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please point me in right direction .
rajat gravatar imagerajat ( 2011-06-19 23:35:44 -0600 )edit

2 Answers

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answered 2011-09-02 11:10:15 -0600

Helen gravatar image

vslam is unsupported experimental research code, and more specifically, the monocular pose estimation only works for specific types of camera motions (i.e., will not work on a dataset with unconstrained motion).

Unfortunately, there are no current plans to improve the functionality of monocular vslam. However, patches are welcome.

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Is it still, five years later?

Hendrik Wiese gravatar imageHendrik Wiese ( 2016-06-27 00:42:05 -0600 )edit
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answered 2011-08-20 05:16:32 -0600

RobotRocks gravatar image

Hi Rajat, I had the same problem running vslam_system on monocular cameras. I've been searching in the code, and I think that the error is in the function calcNodeErr from the file planarSFM.cpp:

inline double calcNodeErr(sba::Proj& prj, const sba::Node &nd, const sba::Point &pt)
{
  Eigen::Vector3d p1 = nd.w2i * pt;
  prj.err = p1.head(2)/p1(2);
  if (p1(2) <= 0.0)
  {
    prj.err = Vector3d(0.0,0.0,0.0);
    return 0.0;
  }
  //    printf("Projection: %f %f, gt: %f %f, ", prj.err(0), prj.err(1), prj.kp(0), prj.kp(1));
  prj.err -= prj.kp;
  //  printf("dist: %f\n", prj.err.squaredNorm());
  return prj.err.squaredNorm();
}

The second assignment:

prj.err = p1.head(2)/p1(2);

was causing problems. Modify the code with something like this and it will work:

inline double calcNodeErr(sba::Proj& prj, const sba::Node &nd, const sba::Point &pt)
{
  Eigen::Vector3d p1 = nd.w2i * pt;
  //prj.err = p1.head(2)/p1(2); //<--That's the problem
  if (p1(2) <= 0.0)
  {
    prj.err = Vector3d(0.0,0.0,0.0);
    return 0.0;
  }
  //SOLUTION:
  else
     prj.err = Vector3d(p1(0)/p1(2),p1(1)/p1(2),0.0); //this seems to work

  //    printf("Projection: %f %f, gt: %f %f, ", prj.err(0), prj.err(1), prj.kp(0), prj.kp(1));
  prj.err -= prj.kp;
  //  printf("dist: %f\n", prj.err.squaredNorm());
  return prj.err.squaredNorm();
}

I have solved this problem, but the entire code isn't still working. I'm having other problems like:

-The SFM is very slow, it expends a lot of time calulcating the SFM. I think that the problem is the RANSAC algorithm, that needs 10000 iterations to be processed. Somebody have the same problem?

-In every image matching, the result is a bad image match, I think this is caused why the vo finds 0 inliers. I don't know how to solve this. Somebody have any idea?

Thanks

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Asked: 2011-06-19 03:29:12 -0600

Seen: 469 times

Last updated: Sep 02 '11