visp_auto_tracker crashing when detecting qr code

asked 2020-05-11 00:04:42 -0500

ivelso gravatar image

updated 2020-05-11 02:33:32 -0500

gvdhoorn gravatar image

I am using vision_visp/visp_auto_tracker on ROS kinetic 1.12.14 and a realsense D435i camera. I could not get the timesynchronizer to work because the camera did not publish with the same timestamp. I have therefore modified the code to use two subscribers one for the image and one for the camera_info. This works and the debug display shows the image. However, when the Qr code goes into the image it detects it and the first image is shown with the detected display and then it shuts down in the line

t_ ->process_event(tracking::input_ready(I_,cam_,iter));

this is what is printed in the cmd

[ INFO] [1589098219.353318953]: waiting for a rectified image...
*********** Parsing XML for ME projection error ************
projection_error : sample_step : 10 (default)
projection_error : kernel_size : 5x5 (default)
 *********** Parsing XML for Edge Klt Model-Based Tracker ************
ecm : mask : size : 5
ecm : mask : nb_mask : 180
ecm : range : tracking : 10
ecm : contrast : threshold 5000
ecm : contrast : mu1 0.5
ecm : contrast : mu2 0.5
ecm : sample : sample_step : 4 (default)
[DEPRECATED] sample : sample_step : 4
  WARNING : This node (sample) is deprecated.
  It should be moved in the ecm node (ecm : sample).
klt : Mask Border : 0
klt : Max Features : 10000
klt : Windows Size : 5
klt : Quality : 0.015
klt : Min Distance : 20
klt : Harris Parameter : 0.01
klt : Block Size : 3
klt : Pyramid Levels : 3
face : Angle Appear : 75
face : Angle Disappear : 75
camera : u0 : 192 (default)
camera : v0 : 144 (default)
camera : px : 600 (default)
camera : py : 600 (default)
lod : use lod : 0 (default)
lod : min line length threshold : 50 (default)
lod : min polygon area threshold : 2500 (default)
[ INFO] [1589098218.394932173]: detection Camera parameters:
Camera parameters for perspective projection without distortion:
  px = 600   py = 600
  u0 = 192   v0 = 144

[visp_auto_tracker-2] process has died [pid 32492, exit code -11, cmd /home/student/catkin_ws/devel/lib/visp_auto_tracker/visp_auto_tracker /visp_auto_tracker/camera_info:=/camera/color/camera_info /visp_auto_tracker/image_raw:=/camera/color/image_raw __name:=visp_auto_tracker __log:=/home/student/.ros/log/9f271cfe-9295-11ea-a3a9-0800274146ea/visp_auto_tracker-2.log].
log file: /home/student/.ros/log/9f271cfe-9295-11ea-a3a9-0800274146ea/visp_auto_tracker-2*.log
[ INFO] [1589098219.353318953]: waiting for a rectified image...

error log fil

[roslaunch][INFO] 2020-05-11 14:46:19,510: Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
[roslaunch][INFO] 2020-05-11 14:46:19,518: Done checking log file disk usage. Usage is <1GB.
[roslaunch][INFO] 2020-05-11 14:46:19,518: roslaunch starting with args ['/opt/ros/kinetic/bin/roslaunch', 'visp_auto_tracker', 'tracklive_firewire.launch']
[roslaunch][INFO] 2020-05-11 14:46:19,519: roslaunch env is {'LESSCLOSE': '/usr/bin/lesspipe %s %s', 'WINDOWID': '62914570', 'MANDATORY_PATH': '/usr/share/gconf/ubuntu.mandatory.path', 'ROS_DISTRO': 'kinetic', 'ROS_LOG_FILENAME': '/home/student/.ros/log/3a82c246-9342-11ea-ab20-0800274146ea/roslaunch-ecte477vm-8119.log', 'XDG_GREETER_DATA_DIR': '/var/lib/lightdm-data/student', 'GNOME_DESKTOP_SESSION_ID': 'this-is-deprecated', 'PKG_CONFIG_PATH': '/home/student/catkin_ws/devel/lib/pkgconfig:/opt/ros/kinetic/lib/pkgconfig:/opt/ros/kinetic/lib/x86_64-linux-gnu/pkgconfig', 'UPSTART_EVENTS': 'xsession started', 'LESSOPEN': '| /usr/bin/lesspipe %s', 'UNITY_HAS_3D_SUPPORT': 'false', 'XDG_SESSION_TYPE': 'x11', 'ROSLISP_PACKAGE_DIRECTORIES': '/home/student/catkin_ws/devel/share/common-lisp', 'QT_IM_MODULE': 'ibus', 'LOGNAME': 'student', 'USER': 'student', 'PATH': '/opt/ros/kinetic/bin:/home/student/bin:/home/student/.local/bin:/usr/local/sbin:/usr/local/bin ...
(more)
edit retag flag offensive close merge delete