rajat's profile - activity

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 am running vslam on a stereo image data set , i am sending the 4 topics synchronously and also all the images are rectified and undistorted .I can see the camera trajectory and the point cloud in rviz . but i have these 2 problems :

1. The point cloud in rviz shows some random trajectory of camera somewhere in between .

2. And after sometime the vslam node crashes saying. [Stereo VO] Inliers: 77 Nodes: 24 Points: 2484 [NormRot] Bad quaternion: -nan -nan -nan -nan

The vslam seems to work fine for stereo stream but The topic /vo is advertised but it is not published , and i can see no output when i do : rostopic echo /vo

So what might be wrong ?

After i publish my two left and right videos from stereo camera and run stereo_synchronizer node and stereo_image_proc node everything seems to go file but i get this error from stereo_vslam_node and see no output:

stereo_vslam_node: /opt/ros/diamondback/stacks/vision_opencv/image_geometry/src/stereo_camera_model.cpp:28: bool image_geometry::StereoCameraModel::fromCameraInfo(const sensor_msgs::CameraInfo&, const sensor_msgs::CameraInfo&): Assertion `left_.tfFrame() == right_.tfFrame()' failed.

You can zoom in the file by opening it in another window. Here is how my system looks , does anybody has anyidea what might be going wrong ??

This is very basic question , sorry for asking but i can't find the information .. What is the Grid plane in rviz , is it XY or YZ or ZX ?

When i try to run some custom node to process some .avi video i have this error : i guess this error is related to opencv , i have tried all the sloutions , even recompiled vision_opencv with FFMPEG flag on , and urgraded ffmped with --enable-shared --enable-gpl --enable-swscale , but still no luck .

[swscaler @ 0x842fa20]No accelerated colorspace conversion found.
[swscaler @ 0x848aa80]No accelerated colorspace conversion found.
Last message repeated 10 times
[swscaler @ 0x8497c80]No accelerated colorspace conversion found.
[swscaler @ 0x848aa80]No accelerated colorspace conversion found.
Last message repeated 10 times
[swscaler @ 0x8497c60]No accelerated colorspace conversion found.
[swscaler @ 0x848aa80]No accelerated colorspace conversion found.
Last message repeated 10 times
[swscaler @ 0x8495730]No accelerated colorspace conversion found.
[swscaler @ 0x848aa80]No accelerated colorspace conversion found.
Last message repeated 10 times
[swscaler @ 0x8492ae0]No accelerated colorspace conversion found.
[swscaler @ 0x848aa80]No accelerated colorspace conversion found.
Last message repeated 10 times
[swscaler @ 0x8492d00]No accelerated colorspace conversion found.
[swscaler @ 0x848aa80]No accelerated colorspace conversion found.
Last message repeated 10 times
[swscaler @ 0x8491c70]No accelerated colorspace conversion found.
[swscaler @ 0x848aa80]No accelerated colorspace conversion found

i can't proceed with my project , until i sort this out and i already have wasted more than 10hrs on this problem , so if you guys think of any solution i would be glad to try it out .

When i try to run "rosrun rviz rviz" i get this output :

[ INFO] [1306327198.635135186]: Loading general config from [/home/rajat/.rviz/config]
[ INFO] [1306327198.650256875]: Loading display config from [/home/rajat/.rviz/display_config]
[ERROR] [1306327199.295138649]: Caught exception while loading: OGRE EXCEPTION(3:RenderingAPIException): Unable to create a suitable GLXContext in GLXContext::GLXContext at /tmp/buildd/ros-diamondback-visualization-common-1.4.0/debian/ros-diamondback-visualization-common/opt/ros/diamondback/stacks/visualization_common/ogre/build/ogre_src_v1-7-1/RenderSystems/GL/src/GLX/OgreGLXContext.cpp (line 61)

After wasting more than 5 hours on this , i still can't figure out the solution. :( . Please help .