rgbdslam v2 process has died
Hello all,
I have (supposedly) successfully catkin_make'd rgbdslam_v2 following the instructions from ( http://felixendres.github.io/rgbdslam... ) on ros-hydro and ubuntu.
Then I run :
roslaunch rgbdslam rgbdslam.launch
Everything good so far, also i recorded some PCD file.
But, when i want to load PCD file I get the error below:
/home/ahmed/catkin_ws/devel/lib/rgbdslam/point cloud to node wise_0001.pcd
[ INFO] [1458254044.225434759]: Processing file /home/ahmed/catkin_ws/devel/lib/rgbdslam/point cloud to node wise_0001.pcd
[ INFO] [1458254044.234612792]: Received data from pcd file reader
[ WARN] [1458254044.234693868]: First RGBD-Data Received
[ INFO] [1458254044.235898013]: Construction of Node with ORB Features
[ INFO] [1458254044.251699491]: Feature 2d size: 331, 3D: 331
[ INFO] [1458254044.251751634]: Feature 2d size: 331, 3D: 331
rgbdslam: /home/ahmed/catkin_ws/src/rgbdslam_v2-hydro/src/node.cpp:315: Node::Node(cv::Mat, cv::Ptr<cv::FeatureDetector>, cv::Ptr<cv::DescriptorExtractor>, pcl::PointCloud<pcl::PointXYZRGB>::Ptr, cv::Mat): Assertion `feature_locations_2d_.size() == feature_locations_3d_.size()' failed.
================================================================================REQUIRED process [rgbdslam-23] has died!
process has died [pid 10394, exit code -6, cmd /home/ahmed/catkin_ws/devel/lib/rgbdslam/rgbdslam __name:=rgbdslam __log:=/home/ahmed/.ros/log/5421407c-ec90-11e5-a8d2-fcf8ae4cc7ff/rgbdslam-23.log].
log file: /home/ahmed/.ros/log/5421407c-ec90-11e5-a8d2-fcf8ae4cc7ff/rgbdslam-23*.log
Initiating shutdown!
================================================================================
Here all log commands executed in the terminal:
ahmed@ahmed-server:~$ roslaunch rgbdslam openni+rgbdslam.launch
... logging to /home/ahmed/.ros/log/5421407c-ec90-11e5-a8d2-fcf8ae4cc7ff/roslaunch-ahmed-server-10063.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://ahmed-server:49983/
SUMMARY
========
PARAMETERS
* /camera/camera_nodelet_manager/num_worker_threads
* /camera/depth_rectify_depth/interpolation
* /camera/depth_registered_rectify_depth/interpolation
* /camera/disparity_depth/max_range
* /camera/disparity_depth/min_range
* /camera/disparity_registered_hw/max_range
* /camera/disparity_registered_hw/min_range
* /camera/disparity_registered_sw/max_range
* /camera/disparity_registered_sw/min_range
* /camera/driver/depth_camera_info_url
* /camera/driver/depth_frame_id
* /camera/driver/depth_registration
* /camera/driver/device_id
* /camera/driver/rgb_camera_info_url
* /camera/driver/rgb_frame_id
* /rgbdslam/config/backend_solver
* /rgbdslam/config/cloud_creation_skip_step
* /rgbdslam/config/cloud_display_type
* /rgbdslam/config/detector_grid_resolution
* /rgbdslam/config/feature_detector_type
* /rgbdslam/config/feature_extractor_type
* /rgbdslam/config/max_keypoints
* /rgbdslam/config/max_matches
* /rgbdslam/config/min_sampled_candidates
* /rgbdslam/config/neighbor_candidates
* /rgbdslam/config/optimizer_skip_step
* /rgbdslam/config/pose_relative_to
* /rgbdslam/config/predecessor_candidates
* /rgbdslam/config/ransac_iterations
* /rgbdslam/config/topic_image_depth
* /rgbdslam/config/topic_image_mono
* /rosdistro
* /rosversion
NODES
/camera/
camera_nodelet_manager (nodelet/nodelet)
debayer (nodelet/nodelet)
depth_metric (nodelet/nodelet)
depth_metric_rect (nodelet/nodelet)
depth_points (nodelet/nodelet)
depth_rectify_depth (nodelet/nodelet)
depth_registered_rectify_depth (nodelet/nodelet)
disparity_depth (nodelet/nodelet)
disparity_registered_hw (nodelet/nodelet)
disparity_registered_sw (nodelet/nodelet)
driver (nodelet/nodelet)
points_xyzrgb_hw_registered (nodelet/nodelet)
points_xyzrgb_sw_registered (nodelet/nodelet)
rectify_color (nodelet/nodelet)
rectify_ir (nodelet/nodelet)
rectify_mono (nodelet/nodelet)
register_depth_rgb (nodelet/nodelet)
/
camera_base_link (tf/static_transform_publisher)
camera_base_link1 (tf/static_transform_publisher)
camera_base_link2 (tf/static_transform_publisher)
camera_base_link3 (tf/static_transform_publisher)
rgbdslam (rgbdslam/rgbdslam)
auto-starting new master
process[master]: started with pid [10078]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 5421407c-ec90-11e5-a8d2-fcf8ae4cc7ff
process[rosout-1]: started with pid [10091]
started core service [/rosout]
process[camera/camera_nodelet_manager-2]: started with pid [10103]
[ INFO] [1458254034.151722815]: Initializing nodelet with 4 worker threads.
process[camera/driver-3]: started with pid [10124]
process[camera/debayer-4]: started with pid [10140]
[ INFO] [1458254034.230334750]: No devices connected.... waiting for devices to be connected
process[camera/rectify_mono-5]: started with pid [10154]
process[camera/rectify_color-6]: started with pid ...