[SVO] Get pose for a long time

edit

I'm using the SVO package. I already calibrated my bottom camera (using the Pinhole model, with the specs of camera_calibration modified to be in the format expected) and modified my .launch file so it gets the images from the output of the image_proc (i.e, grayscale and rectified), but it's very difficult to obtain the pose of the camera over a long period of time.

This is my .launch file:

<launch>

    <node pkg="svo_ros" type="vo" name="svo" clear_params="true" output="screen">

        <!-- Camera topic to subscribe to -->
        <param name="cam_topic" value="/ardrone/bottom/image_rect" type="str" />

        <!-- Camera calibration file -->
        <rosparam file="$(find svo_ros)/param/ardrone_bottom.yaml" />

        <!-- Default parameter settings: choose between vo_fast and vo_accurate -->
        <rosparam file="$(find svo_ros)/param/vo_fast.yaml" />

    </node>

</launch>

and this is how I use the image_proc package:

ROS_NAMESPACE=/ardrone/bottom rosrun image_proc image_proc

rosnode info svo gives this output:

Node [/svo]
Publications: 
 * /rosout [rosgraph_msgs/Log]
 * /svo/dense_input [svo_msgs/DenseInput]
 * /svo/image [sensor_msgs/Image]
 * /svo/image/compressed [sensor_msgs/CompressedImage]
 * /svo/image/compressed/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
 * /svo/image/compressed/parameter_updates [dynamic_reconfigure/Config]
 * /svo/image/compressedDepth [sensor_msgs/CompressedImage]
 * /svo/image/compressedDepth/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
 * /svo/image/compressedDepth/parameter_updates [dynamic_reconfigure/Config]
 * /svo/image/theora [theora_image_transport/Packet]
 * /svo/image/theora/parameter_descriptions [dynamic_reconfigure/ConfigDescription]
 * /svo/image/theora/parameter_updates [dynamic_reconfigure/Config]
 * /svo/info [svo_msgs/Info]
 * /svo/keyframes [visualization_msgs/Marker]
 * /svo/points [visualization_msgs/Marker]
 * /svo/pose [geometry_msgs/PoseWithCovarianceStamped]
 * /tf [tf2_msgs/TFMessage]

Subscriptions: 
 * /ardrone/bottom/image_rect [sensor_msgs/Image]
 * /svo/remote_key [unknown type]

Services: 
 * /svo/get_loggers
 * /svo/image/compressed/set_parameters
 * /svo/image/compressedDepth/set_parameters
 * /svo/image/theora/set_parameters
 * /svo/set_logger_level


contacting node http://juan:34907/ ...
Pid: 19891
Connections:
 * topic: /rosout
    * to: /rosout
    * direction: outbound
    * transport: TCPROS
 * topic: /tf
    * to: /rqt_gui_py_node_20048
    * direction: outbound
    * transport: TCPROS
 * topic: /ardrone/bottom/image_rect
    * to: /ardrone/bottom/image_proc (http://juan:40291/)
    * direction: inbound
    * transport: TCPROS

When I run roslaunch svo_ros live.launch this is the output:

... logging to /home/juan/.ros/log/1b6a94be-ab2c-11e9-84b5-68ecc55d6600/roslaunch-juan-19873.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://juan:45331/

SUMMARY
========

CLEAR PARAMETERS
 * /svo/

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.14
 * /svo/cam_cx: 254.861406985
 * /svo/cam_cy: 132.774654931
 * /svo/cam_d0: 0.0254329004542
 * /svo/cam_d1: 0.00484972274251
 * /svo/cam_d2: -0.00316468715909
 * /svo/cam_d3: -0.0168351839378
 * /svo/cam_fx: 724.628466389
 * /svo/cam_fy: 722.57992602
 * /svo/cam_height: 360
 * /svo/cam_model: Pinhole
 * /svo/cam_topic: /ardrone/bottom/i...
 * /svo/cam_width: 640
 * /svo/grid_size: 30
 * /svo/loba_num_iter: 0
 * /svo/max_n_kfs: 10

NODES
  /
    svo (svo_ros/vo)

ROS_MASTER_URI=http://localhost:11311

process[svo-1]: started with pid [19891]
create vo_node
[ WARN] [1563654227.665696970]: Cannot find value for parameter: svo/publish_img_pyr_level, assigning default: 0
[ WARN] [1563654227.666169164]: Cannot find value for parameter: svo/publish_every_nth_img, assigning default: 1
[ WARN] [1563654227.666518905]: Cannot find value for parameter: svo/publish_every_nth_dense_input, assigning default: 1
[ WARN] [1563654227.667630230]: Cannot find value for parameter: svo/publish_world_in_cam_frame, assigning default: 1
[ WARN] [1563654227.668068619]: Cannot find value for parameter: svo ...