Tagslam gives bayes tree node not found when I try to tune the algorithm for the bag file of my setup.

Question

Tagslam gives bayes tree node not found when I try to tune the algorithm for the bag file of my setup.

Closed this issue a year ago · 11 comments

Setup: Markers are placed in a gazebo simulation with turtle bot and odometry is fed from the simul itself. I have given information about two markers in the tagslam.yaml file but with respect to the global coordinate frame of gazebosim.

It gives me this error that I'm trying to understand:

[ERROR] [1674501247.977188733]: /tagslam: Requested the BayesTree clique for a key that is not in the BayesTree
[tagslam-1] process has died [pid 9562, exit code 255, cmd /home/dt/AddverbWork/slamalgos/tagslam_ws/devel/lib/tagslam/tagslam_node __name:=tagslam __log:=/home/dt/.ros/log/ea0002dc-9b51-11ed-997c-91c581871bdd/tagslam-1.log].
log file: /home/dt/.ros/log/ea0002dc-9b51-11ed-997c-91c581871bdd/tagslam-1*.log

When I increase the minimum_viewing_angle parameter this error goes away, however I'm looking for a better way to optimise and find these parameters. Any insights and help is appreciated, cheers.

Answer 1 · 2023-01-23T19:26:47.000Z

My tagslam.yaml file:

tagslam_parameters:
  optimizer_mode: fast
  minimum_viewing_angle: 35.0
  max_num_incremental_opt: 100
  pixel_noise: 2.0
  max_subgraph_error: 50.0
  subgraph_abs_prior_position_noise: 0.1
  subgraph_abs_prior_rotation_noise: 0.1
  use_approximate_sync: true
body_defaults:
  position_noise: 0.05
  rotation_noise: 0.01
default_body: perch
bodies:
 - perch:
    is_static: true
    default_tag_size: 1.0
    pose:
      position:
        x: -1.05
        y: 11.66
        z: 2.5
      rotation:
        x: 0
        y: 0
        z: 0
      position_noise:
        x: 0.0001
        y: 0.0001
        z: 0.0001
      rotation_noise:
        x: 1.0e-05
        y: 1.0e-05
        z: 1.0e-05
    type: simple
    tags:
      - id: 21
        size: 1.0
        pose:
          position:
            x: 0
            y: 0
            z: 0
          rotation:
            x: 1.57
            y: 0
            z: 0
          position_noise:
            x: 0.0001
            y: 0.0001
            z: 0.0001
          rotation_noise:
            x: 1.0e-05
            y: 1.0e-05
            z: 1.0e-05
      - id: 20
        size: 1.0
        pose:
          position:
            x: -2.35
            y: -1.5
            z: 1.5
          rotation:
            x: 1.57
            y: 0
            z: 0
          position_noise:
            x: 0.0001
            y: 0.0001
            z: 0.0001
          rotation_noise:
            x: 1.0e-05
            y: 1.0e-05
            z: 1.0e-05
 - rig:
     is_static: false
     type: simple
     odom_topic: "/odom"
     odom_frame_id: base_footprint
    #  T_body_odom:
    #   position:
    #     x:  -1.05
    #     y:  11.66
    #     z:  2.5
    #   rotation:
    #     x:  0.0
    #     y:  0.0
    #     z:  0.0

Answer 2 · 2023-01-23T19:42:42.000Z

That's a new one to me. Could you please post the whole console log that tagslam is spitting out (not just the error)? I suspect something like duplicate tags.

Answer 3 · 2023-01-23T20:20:26.000Z

Yes, so i was trying to find the same, however tagslam-1.log doesn't exist even though there should be one.

The entire console output is:

... logging to /home/dt/.ros/log/ea0002dc-9b51-11ed-997c-91c581871bdd/roslaunch-dt-ThinkPad-E14-13974.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://dt-ThinkPad-E14:38501/

SUMMARY
========

CLEAR PARAMETERS
 * /tagslam/

PARAMETERS
 * /rosdistro: noetic
 * /rosversion: 1.15.15
 * /tagslam/bag_file: /home/dt/AddverbW...
 * /tagslam/camera_poses/cam0/pose/R: [1000000.0, 0.0, ...
 * /tagslam/camera_poses/cam0/pose/position/x: 0
 * /tagslam/camera_poses/cam0/pose/position/y: 0
 * /tagslam/camera_poses/cam0/pose/position/z: 0
 * /tagslam/camera_poses/cam0/pose/rotation/x: 0
 * /tagslam/camera_poses/cam0/pose/rotation/y: 0
 * /tagslam/camera_poses/cam0/pose/rotation/z: 0
 * /tagslam/cameras/cam0/camera_model: pinhole
 * /tagslam/cameras/cam0/distortion_coeffs: [0.0, 0.0, 0.0, 0...
 * /tagslam/cameras/cam0/distortion_model: radtan
 * /tagslam/cameras/cam0/intrinsics: [1206.88977195323...
 * /tagslam/cameras/cam0/resolution: [1920, 1080]
 * /tagslam/cameras/cam0/rig_body: rig
 * /tagslam/cameras/cam0/rostopic: /camera/rgb/image...
 * /tagslam/cameras/cam0/tagtopic: /april_tags
 * /tagslam/exit_when_done: True
 * /tagslam/playback_rate: 100.0
 * /tagslam/sync_queue_size: 100
 * /tagslam/tagslam_config/bodies: [{'perch': {'is_s...
 * /tagslam/tagslam_config/body_defaults/position_noise: 0.05
 * /tagslam/tagslam_config/body_defaults/rotation_noise: 0.01
 * /tagslam/tagslam_config/default_body: perch
 * /tagslam/tagslam_config/tagslam_parameters/max_num_incremental_opt: 100
 * /tagslam/tagslam_config/tagslam_parameters/max_subgraph_error: 50.0
 * /tagslam/tagslam_config/tagslam_parameters/minimum_viewing_angle: 20.0
 * /tagslam/tagslam_config/tagslam_parameters/optimizer_mode: full
 * /tagslam/tagslam_config/tagslam_parameters/pixel_noise: 2.0
 * /tagslam/tagslam_config/tagslam_parameters/subgraph_abs_prior_position_noise: 0.1
 * /tagslam/tagslam_config/tagslam_parameters/subgraph_abs_prior_rotation_noise: 0.1
 * /tagslam/tagslam_config/tagslam_parameters/use_approximate_sync: True

NODES
  /
    tagslam (tagslam/tagslam_node)

ROS_MASTER_URI=http://localhost:11311

process[tagslam-1]: started with pid [13996]
[ INFO] [1674505579.072850355]: optimizer mode: full
[ INFO] [1674505579.073863926]: added body perch with 2 tags
[ INFO] [1674505579.073881461]: added body rig with 0 tags
[ INFO] [1674505579.074974403]: found 1 cameras
[ INFO] [1674505579.075448770]: camera cam0 has known pose!
[ INFO] [1674505579.075506932]: no distance measurements found!
[ INFO] [1674505579.075529970]: no coordinate measurements found!
[ INFO] [1674505579.075547484]: no plane measurements found!
[ INFO] [1674505580.398592041]: reading from bag: /home/dt/AddverbWork/slamalgos/tagslam_ws/src/tagslam_root/src/tagslam_test/tests/test_gazebo/tag_detections.bag
[ INFO] [1674505580.402105036]: number of tag   topics: 1
[ INFO] [1674505580.402173651]: number of image topics: 0
[ INFO] [1674505580.402216430]: number of odom  topics: 1
[ INFO] [1674505580.405636632]: new tag 2 attached to perch
[ INFO] [1674505580.405735022]: new tag 7 attached to perch
[ INFO] [1674505580.405787061]: new tag 8 attached to perch
[ INFO] [1674505580.405832707]: new tag 11 attached to perch
[ INFO] [1674505580.405886333]: new tag 33 attached to perch
[ INFO] [1674505580.405955083]: have odom from rig base_footprint
[ INFO] [1674505580.408573501]: frame 0 [4850.144000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.409178301]: [4850.144000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.409289392]: graph after update: opt fac: 5 unopt fac: 5 opt vals: 5 unopt vals: 6
[ INFO] [1674505580.410197004]: frame 1 [4850.319000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.410561466]: [4850.319000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.410659319]: graph after update: opt fac: 6 unopt fac: 11 opt vals: 6 unopt vals: 7
[ INFO] [1674505580.411601778]: frame 2 [4850.508000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.411990482]: [4850.508000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.412095677]: graph after update: opt fac: 7 unopt fac: 17 opt vals: 7 unopt vals: 8
[ INFO] [1674505580.413010434]: frame 3 [4850.708000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.413362172]: [4850.708000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.413474147]: graph after update: opt fac: 8 unopt fac: 23 opt vals: 8 unopt vals: 9
[ INFO] [1674505580.414312868]: frame 4 [4850.901000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.414668220]: [4850.901000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.414823481]: graph after update: opt fac: 9 unopt fac: 29 opt vals: 9 unopt vals: 10
[ INFO] [1674505580.415719319]: frame 5 [4851.079000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.416233519]: [4851.079000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.416355927]: graph after update: opt fac: 10 unopt fac: 35 opt vals: 10 unopt vals: 11
[ INFO] [1674505580.417226876]: frame 6 [4851.256000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.417645443]: [4851.256000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.417775247]: graph after update: opt fac: 11 unopt fac: 41 opt vals: 11 unopt vals: 12
[ INFO] [1674505580.418643338]: frame 7 [4851.453000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.419111153]: [4851.453000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.419235817]: graph after update: opt fac: 12 unopt fac: 47 opt vals: 12 unopt vals: 13
[ INFO] [1674505580.420253647]: frame 8 [4851.635000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.420769193]: [4851.635000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.420883700]: graph after update: opt fac: 13 unopt fac: 53 opt vals: 13 unopt vals: 14
[ INFO] [1674505580.421742100]: frame 9 [4851.797000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.422099481]: [4851.797000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.422222336]: graph after update: opt fac: 14 unopt fac: 59 opt vals: 14 unopt vals: 15
[ INFO] [1674505580.423139278]: frame 10 [4851.980000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.423516473]: [4851.980000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.423633714]: graph after update: opt fac: 15 unopt fac: 65 opt vals: 15 unopt vals: 16
[ INFO] [1674505580.424708970]: frame 11 [4852.151000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.425097575]: [4852.151000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.425217089]: graph after update: opt fac: 16 unopt fac: 71 opt vals: 16 unopt vals: 17
[ INFO] [1674505580.426444030]: frame 12 [4852.303000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.427074009]: [4852.303000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.427201114]: graph after update: opt fac: 17 unopt fac: 77 opt vals: 17 unopt vals: 18
[ INFO] [1674505580.428448860]: frame 13 [4852.497000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.428961462]: [4852.497000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.429100125]: graph after update: opt fac: 18 unopt fac: 83 opt vals: 18 unopt vals: 19
[ INFO] [1674505580.430311030]: frame 14 [4852.695000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.430845553]: [4852.695000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.430983597]: graph after update: opt fac: 19 unopt fac: 89 opt vals: 19 unopt vals: 20
[ INFO] [1674505580.432147829]: frame 15 [4852.864000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.432458546]: [4852.864000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.432553753]: graph after update: opt fac: 20 unopt fac: 95 opt vals: 20 unopt vals: 21
[ INFO] [1674505580.433330123]: frame 16 [4853.055000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.433574483]: [4853.055000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.433660971]: graph after update: opt fac: 21 unopt fac: 101 opt vals: 21 unopt vals: 22
[ INFO] [1674505580.434167448]: frame 17 [4853.230000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.434401817]: [4853.230000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.434469853]: graph after update: opt fac: 22 unopt fac: 107 opt vals: 22 unopt vals: 23
[ INFO] [1674505580.434990340]: frame 18 [4853.386000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.435248763]: [4853.386000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.435317432]: graph after update: opt fac: 23 unopt fac: 113 opt vals: 23 unopt vals: 24
[ INFO] [1674505580.435813952]: frame 19 [4853.537000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.436075131]: [4853.537000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.436139049]: graph after update: opt fac: 24 unopt fac: 119 opt vals: 24 unopt vals: 25
[ INFO] [1674505580.436649364]: frame 20 [4853.722000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.436943132]: [4853.722000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.437026676]: graph after update: opt fac: 25 unopt fac: 125 opt vals: 25 unopt vals: 26
[ INFO] [1674505580.437462447]: frame 21 [4853.900000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.437659474]: [4853.900000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.437711850]: graph after update: opt fac: 26 unopt fac: 131 opt vals: 26 unopt vals: 27
[ INFO] [1674505580.438120062]: frame 22 [4854.083000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.438313301]: [4854.083000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.438368190]: graph after update: opt fac: 27 unopt fac: 137 opt vals: 27 unopt vals: 28
[ INFO] [1674505580.438792436]: frame 23 [4854.265000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.438995752]: [4854.265000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.439061102]: graph after update: opt fac: 28 unopt fac: 143 opt vals: 28 unopt vals: 29
[ INFO] [1674505580.439469530]: frame 24 [4854.446000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.439688720]: [4854.446000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.439750541]: graph after update: opt fac: 29 unopt fac: 149 opt vals: 29 unopt vals: 30
[ INFO] [1674505580.440122449]: frame 25 [4854.621000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.440317877]: [4854.621000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.440377395]: graph after update: opt fac: 30 unopt fac: 155 opt vals: 30 unopt vals: 31
[ INFO] [1674505580.440729585]: frame 26 [4854.790000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.440939876]: [4854.790000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.440998689]: graph after update: opt fac: 31 unopt fac: 161 opt vals: 31 unopt vals: 32
[ INFO] [1674505580.441542580]: frame 27 [4854.979000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.441848023]: [4854.979000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.441927072]: graph after update: opt fac: 32 unopt fac: 167 opt vals: 32 unopt vals: 33
[ INFO] [1674505580.442370688]: frame 28 [4855.149000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.442536570]: [4855.149000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.442590001]: graph after update: opt fac: 33 unopt fac: 173 opt vals: 33 unopt vals: 34
[ INFO] [1674505580.442908382]: frame 29 [4855.311000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.443057204]: [4855.311000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.443098460]: graph after update: opt fac: 34 unopt fac: 179 opt vals: 34 unopt vals: 35
[ INFO] [1674505580.443395439]: frame 30 [4855.498000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.443546624]: [4855.498000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.443585097]: graph after update: opt fac: 35 unopt fac: 185 opt vals: 35 unopt vals: 36
[ INFO] [1674505580.443894077]: frame 31 [4855.660000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.444042954]: [4855.660000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.444084016]: graph after update: opt fac: 36 unopt fac: 191 opt vals: 36 unopt vals: 37
[ INFO] [1674505580.444309185]: frame 32 [4855.820000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.444414149]: [4855.820000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.444445780]: graph after update: opt fac: 37 unopt fac: 197 opt vals: 37 unopt vals: 38
[ INFO] [1674505580.444644401]: frame 33 [4856.037000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.444750808]: [4856.037000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.444783274]: graph after update: opt fac: 38 unopt fac: 203 opt vals: 38 unopt vals: 39
[ INFO] [1674505580.444968876]: frame 34 [4856.221000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.445075207]: [4856.221000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.445107734]: graph after update: opt fac: 39 unopt fac: 209 opt vals: 39 unopt vals: 40
[ INFO] [1674505580.445294544]: frame 35 [4856.399000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.445399236]: [4856.399000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.445431972]: graph after update: opt fac: 40 unopt fac: 215 opt vals: 40 unopt vals: 41
[ INFO] [1674505580.445618008]: frame 36 [4856.572000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.445729252]: [4856.572000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.445762132]: graph after update: opt fac: 41 unopt fac: 221 opt vals: 41 unopt vals: 42
[ INFO] [1674505580.445957897]: frame 37 [4856.719000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.446063840]: [4856.719000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.446096681]: graph after update: opt fac: 42 unopt fac: 227 opt vals: 42 unopt vals: 43
[ INFO] [1674505580.446283327]: frame 38 [4856.904000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.446390650]: [4856.904000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.446423876]: graph after update: opt fac: 43 unopt fac: 233 opt vals: 43 unopt vals: 44
[ INFO] [1674505580.446610014]: frame 39 [4857.088000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.446718756]: [4857.088000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.446763609]: graph after update: opt fac: 44 unopt fac: 239 opt vals: 44 unopt vals: 45
[ INFO] [1674505580.446950179]: frame 40 [4857.265000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.447058751]: [4857.265000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.447092051]: graph after update: opt fac: 45 unopt fac: 245 opt vals: 45 unopt vals: 46
[ INFO] [1674505580.447277305]: frame 41 [4857.430000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.447388342]: [4857.430000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.447422740]: graph after update: opt fac: 46 unopt fac: 251 opt vals: 46 unopt vals: 47
[ INFO] [1674505580.447611259]: frame 42 [4857.598000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.447738785]: [4857.598000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.447774666]: graph after update: opt fac: 47 unopt fac: 257 opt vals: 47 unopt vals: 48
[ INFO] [1674505580.447966558]: frame 43 [4857.770000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.448082888]: [4857.770000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.448117916]: graph after update: opt fac: 48 unopt fac: 263 opt vals: 48 unopt vals: 49
[ INFO] [1674505580.448307962]: frame 44 [4857.945000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.448434885]: [4857.945000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.448469788]: graph after update: opt fac: 49 unopt fac: 269 opt vals: 49 unopt vals: 50
[ INFO] [1674505580.448657723]: frame 45 [4858.127000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.448797979]: [4858.127000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.448834647]: graph after update: opt fac: 50 unopt fac: 275 opt vals: 50 unopt vals: 51
[ INFO] [1674505580.449021997]: frame 46 [4858.310000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.449141385]: [4858.310000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.449176893]: graph after update: opt fac: 51 unopt fac: 281 opt vals: 51 unopt vals: 52
[ INFO] [1674505580.449364501]: frame 47 [4858.478000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.449509120]: [4858.478000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.449545582]: graph after update: opt fac: 52 unopt fac: 287 opt vals: 52 unopt vals: 53
[ INFO] [1674505580.449732721]: frame 48 [4858.678000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.449849048]: [4858.678000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.449885182]: graph after update: opt fac: 53 unopt fac: 293 opt vals: 53 unopt vals: 54
[ INFO] [1674505580.450076754]: frame 49 [4858.901000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.450194501]: [4858.901000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.450229876]: graph after update: opt fac: 54 unopt fac: 299 opt vals: 54 unopt vals: 55
[ INFO] [1674505580.450418272]: frame 50 [4859.121000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.450536667]: [4859.121000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.450572859]: graph after update: opt fac: 55 unopt fac: 305 opt vals: 55 unopt vals: 56
[ INFO] [1674505580.450777459]: frame 51 [4859.354000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.450898471]: [4859.354000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.450936059]: graph after update: opt fac: 56 unopt fac: 311 opt vals: 56 unopt vals: 57
[ INFO] [1674505580.451121456]: frame 52 [4859.559000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.451243350]: [4859.559000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.451280917]: graph after update: opt fac: 57 unopt fac: 317 opt vals: 57 unopt vals: 58
[ INFO] [1674505580.451470265]: frame 53 [4859.743000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.451592173]: [4859.743000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.451629749]: graph after update: opt fac: 58 unopt fac: 323 opt vals: 58 unopt vals: 59
[ INFO] [1674505580.451814103]: frame 54 [4859.918000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.451935424]: [4859.918000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.451972187]: graph after update: opt fac: 59 unopt fac: 329 opt vals: 59 unopt vals: 60
[ INFO] [1674505580.452174473]: frame 55 [4860.108000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.452294478]: [4860.108000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.452332195]: graph after update: opt fac: 60 unopt fac: 335 opt vals: 60 unopt vals: 61
[ INFO] [1674505580.452520061]: frame 56 [4860.301000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.452644799]: [4860.301000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.452682893]: graph after update: opt fac: 61 unopt fac: 341 opt vals: 61 unopt vals: 62
[ INFO] [1674505580.452870583]: frame 57 [4860.483000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.452994355]: [4860.483000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.453032255]: graph after update: opt fac: 62 unopt fac: 347 opt vals: 62 unopt vals: 63
[ INFO] [1674505580.453234651]: frame 58 [4860.708000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.453362702]: [4860.708000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.453399739]: graph after update: opt fac: 63 unopt fac: 353 opt vals: 63 unopt vals: 64
[ INFO] [1674505580.453578931]: frame 59 [4860.901000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.453704734]: [4860.901000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.453741282]: graph after update: opt fac: 64 unopt fac: 359 opt vals: 64 unopt vals: 65
[ INFO] [1674505580.453920232]: frame 60 [4861.077000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.454047040]: [4861.077000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.454083589]: graph after update: opt fac: 65 unopt fac: 365 opt vals: 65 unopt vals: 66
[ INFO] [1674505580.454274292]: frame 61 [4861.308000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.454398580]: [4861.308000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.454435021]: graph after update: opt fac: 66 unopt fac: 371 opt vals: 66 unopt vals: 67
[ INFO] [1674505580.454613450]: frame 62 [4861.540000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.454746997]: [4861.540000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.454784481]: graph after update: opt fac: 67 unopt fac: 377 opt vals: 67 unopt vals: 68
[ INFO] [1674505580.454965340]: frame 63 [4861.766000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.455093953]: [4861.766000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.455133060]: graph after update: opt fac: 68 unopt fac: 383 opt vals: 68 unopt vals: 69
[ INFO] [1674505580.455347465]: frame 64 [4861.981000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.455472132]: [4861.981000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.455504511]: graph after update: opt fac: 69 unopt fac: 389 opt vals: 69 unopt vals: 70
[ INFO] [1674505580.455689009]: frame 65 [4862.224000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.455818416]: [4862.224000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.455856436]: graph after update: opt fac: 70 unopt fac: 395 opt vals: 70 unopt vals: 71
[ INFO] [1674505580.456036424]: frame 66 [4862.426000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.456164984]: [4862.426000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.456202493]: graph after update: opt fac: 71 unopt fac: 401 opt vals: 71 unopt vals: 72
[ INFO] [1674505580.456392878]: frame 67 [4862.669000000] cam: cam0 sees tags:  2 7 8 11 33
[ INFO] [1674505580.456523659]: [4862.669000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.456568664]: graph after update: opt fac: 72 unopt fac: 407 opt vals: 72 unopt vals: 73
[ INFO] [1674505580.456621966]: new tag 19 attached to perch
[ INFO] [1674505580.456834350]: frame 68 [4862.883000000] cam: cam0 sees tags:  2 7 8 11 19 33
[ INFO] [1674505580.456964420]: [4862.883000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.456997785]: graph after update: opt fac: 73 unopt fac: 414 opt vals: 73 unopt vals: 75
[ INFO] [1674505580.457204055]: frame 69 [4863.119000000] cam: cam0 sees tags:  2 7 8 11 19 33
[ INFO] [1674505580.457338508]: [4863.119000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.457377492]: graph after update: opt fac: 74 unopt fac: 421 opt vals: 74 unopt vals: 76
[ INFO] [1674505580.457584528]: frame 70 [4863.360000000] cam: cam0 sees tags:  2 7 8 11 19 33
[ INFO] [1674505580.457723019]: [4863.360000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.457762675]: graph after update: opt fac: 75 unopt fac: 428 opt vals: 75 unopt vals: 77
[ INFO] [1674505580.457974085]: frame 71 [4863.567000000] cam: cam0 sees tags:  2 7 8 11 19 33
[ INFO] [1674505580.458110949]: [4863.567000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.458150597]: graph after update: opt fac: 76 unopt fac: 435 opt vals: 76 unopt vals: 78
[ INFO] [1674505580.458314914]: frame 72 [4863.773000000] cam: cam0 sees tags:  2 8 11 19
[ INFO] [1674505580.458449268]: [4863.773000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.458489279]: graph after update: opt fac: 77 unopt fac: 440 opt vals: 77 unopt vals: 79
[ INFO] [1674505580.458540447]: new tag 1 attached to perch
[ INFO] [1674505580.458678394]: frame 73 [4863.980000000] cam: cam0 sees tags:  1 2 11 19
[ INFO] [1674505580.458824706]: [4863.980000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.458866245]: graph after update: opt fac: 78 unopt fac: 445 opt vals: 78 unopt vals: 81
[ INFO] [1674505580.458917925]: new tag 28 attached to perch
[ INFO] [1674505580.459046693]: frame 74 [4864.195000000] cam: cam0 sees tags:  1 2 19 28
[ INFO] [1674505580.459188653]: [4864.195000000] subgraph err: 0, subgraph sum: 0, full graph error: 0
[ INFO] [1674505580.459229098]: graph after update: opt fac: 79 unopt fac: 450 opt vals: 79 unopt vals: 83
[ INFO] [1674505580.459372098]: frame 75 [4864.433000000] cam: cam0 sees tags:  1 20 28
[ INFO] [1674505580.460081886]: drop tag at view angle 57.0216 with risk of flip: 0.34115
[ INFO] [1674505580.462210793]: [4864.433000000] subgraph err: 0, subgraph sum: 0, full graph error: 1.26404
[ INFO] [1674505580.462513777]: drop tag at view angle 46.731 with risk of flip: 0.407438
[ INFO] [1674505580.463279493]: drop tag at view angle 50.9255 with risk of flip: 0.401876
[ INFO] [1674505580.479516086]: [4864.195000000] subgraph err: 0.161568, subgraph sum: 0.161568, full graph error: 5.7665
[ INFO] [1674505580.481637315]: drop tag at view angle 47.9015 with risk of flip: 0.429348
[ INFO] [1674505580.506955163]: [4863.980000000] subgraph err: 17.4393, subgraph sum: 17.6009, full graph error: 17.1333
[ INFO] [1674505580.510290070]: drop tag at view angle 43.9953 with risk of flip: 0.39511
[ INFO] [1674505580.526613345]: [4863.773000000] subgraph err: 12.3401, subgraph sum: 29.9409, full graph error: 26.0686
[ INFO] [1674505580.529976970]: drop tag with low viewing angle: 15.7669
[ INFO] [1674505580.553558516]: [4863.567000000] subgraph err: 6.7645, subgraph sum: 36.7054, full graph error: 46.7107
[ INFO] [1674505580.557278872]: drop tag at view angle 58.6611 with risk of flip: 0.49414
[ INFO] [1674505580.557765894]: drop tag with low viewing angle: 15.513
[ INFO] [1674505580.594386850]: [4863.360000000] subgraph err: 18.5296, subgraph sum: 55.2351, full graph error: 86.8166
[ INFO] [1674505580.599455732]: drop tag at view angle 59.4728 with risk of flip: 0.788649
[ INFO] [1674505580.599817774]: drop tag with low viewing angle: 15.197
[ INFO] [1674505580.640069134]: [4863.119000000] subgraph err: 18.2113, subgraph sum: 73.4464, full graph error: 161.678
[ INFO] [1674505580.643228830]: drop tag at view angle 41.5194 with risk of flip: 0.341606
[ INFO] [1674505580.645815836]: drop tag with low viewing angle: 15.065
[ INFO] [1674505580.680363945]: [4862.883000000] subgraph err: 15.6548, subgraph sum: 89.1012, full graph error: 247.687
[ INFO] [1674505580.681954129]: drop tag at view angle 56.9188 with risk of flip: 0.361978
[ INFO] [1674505580.682656413]: drop tag with low viewing angle: 14.7758
[ INFO] [1674505580.716153563]: [4862.669000000] subgraph err: 2.49358, subgraph sum: 91.5948, full graph error: 269.752
[ INFO] [1674505580.717905388]: drop tag at view angle 55.5485 with risk of flip: 0.554106
[ INFO] [1674505580.718593679]: drop tag with low viewing angle: 14.9394
[ INFO] [1674505580.768633252]: [4862.426000000] subgraph err: 5.56465, subgraph sum: 97.1594, full graph error: 285.045
[ INFO] [1674505580.770105534]: drop tag at view angle 55.3995 with risk of flip: 0.739569
[ INFO] [1674505580.770397484]: drop tag with low viewing angle: 14.3869
[ INFO] [1674505580.834152781]: [4862.224000000] subgraph err: 5.29975, subgraph sum: 102.459, full graph error: 300.266
[ INFO] [1674505580.836057835]: drop tag with low viewing angle: 15.1329
[ INFO] [1674505580.872761297]: [4861.981000000] subgraph err: 6.4097, subgraph sum: 108.869, full graph error: 312.338
[ INFO] [1674505580.874622564]: drop tag with low viewing angle: 15.1329
[ INFO] [1674505580.911696209]: [4861.766000000] subgraph err: 5.71578, subgraph sum: 114.585, full graph error: 322.181
[ INFO] [1674505580.913551911]: drop tag with low viewing angle: 15.1381
[ INFO] [1674505580.952036725]: [4861.540000000] subgraph err: 4.71315, subgraph sum: 119.298, full graph error: 329.999
[ INFO] [1674505580.954518248]: drop tag with low viewing angle: 15.1318
[ INFO] [1674505580.994243901]: [4861.308000000] subgraph err: 4.04958, subgraph sum: 123.347, full graph error: 336.785
[ INFO] [1674505580.996672768]: drop tag with low viewing angle: 15.107
[ INFO] [1674505581.042606797]: [4861.077000000] subgraph err: 3.5465, subgraph sum: 126.894, full graph error: 343.253
[ INFO] [1674505581.045043589]: drop tag with low viewing angle: 15.0957
[ INFO] [1674505581.091894122]: [4860.901000000] subgraph err: 3.26693, subgraph sum: 130.161, full graph error: 348.947
[ INFO] [1674505581.094319084]: drop tag with low viewing angle: 15.0981
[ INFO] [1674505581.146024774]: [4860.708000000] subgraph err: 3.02346, subgraph sum: 133.184, full graph error: 354.25
[ INFO] [1674505581.148586863]: drop tag with low viewing angle: 14.4361
[ INFO] [1674505581.200092429]: [4860.483000000] subgraph err: 2.75383, subgraph sum: 135.938, full graph error: 359.183
[ INFO] [1674505581.202533511]: drop tag with low viewing angle: 14.4361
[ INFO] [1674505581.259397754]: [4860.301000000] subgraph err: 2.43781, subgraph sum: 138.376, full graph error: 363.693
[ INFO] [1674505581.261072852]: drop tag at view angle 40.6485 with risk of flip: 0.540711
[ INFO] [1674505581.262262407]: drop tag with low viewing angle: 14.4644
[ INFO] [1674505581.331524013]: [4860.108000000] subgraph err: 2.04703, subgraph sum: 140.423, full graph error: 368.061
[ INFO] [1674505581.333946378]: drop tag with low viewing angle: 14.4556
[ INFO] [1674505581.394030951]: [4859.918000000] subgraph err: 2.06414, subgraph sum: 142.487, full graph error: 372.321
[ INFO] [1674505581.396616221]: drop tag with low viewing angle: 14.4526
[ INFO] [1674505581.471583459]: [4859.743000000] subgraph err: 1.96495, subgraph sum: 144.452, full graph error: 376.197
[ INFO] [1674505581.474005682]: drop tag with low viewing angle: 14.4629
[ INFO] [1674505581.552881464]: [4859.559000000] subgraph err: 1.81703, subgraph sum: 146.269, full graph error: 379.613
[ INFO] [1674505581.554661394]: drop tag with low viewing angle: 14.4655
[ INFO] [1674505581.648809958]: [4859.354000000] subgraph err: 1.57772, subgraph sum: 147.847, full graph error: 382.585
[ INFO] [1674505581.650471187]: drop tag with low viewing angle: 14.4596
[ INFO] [1674505581.708509240]: [4859.121000000] subgraph err: 1.47507, subgraph sum: 149.322, full graph error: 385.364
[ INFO] [1674505581.710196427]: drop tag with low viewing angle: 14.4247
[ INFO] [1674505581.775654825]: [4858.901000000] subgraph err: 1.3835, subgraph sum: 150.705, full graph error: 387.958
[ INFO] [1674505581.777429495]: drop tag with low viewing angle: 14.3652
[ INFO] [1674505581.868205024]: [4858.678000000] subgraph err: 1.27502, subgraph sum: 151.98, full graph error: 390.357
[ INFO] [1674505581.869953661]: drop tag with low viewing angle: 15.1398
[ INFO] [1674505581.957921179]: [4858.478000000] subgraph err: 1.21994, subgraph sum: 153.2, full graph error: 392.624
[ INFO] [1674505581.959632735]: drop tag with low viewing angle: 15.1099
[ INFO] [1674505582.018348169]: [4858.310000000] subgraph err: 1.12224, subgraph sum: 154.323, full graph error: 394.726
[ INFO] [1674505582.020088220]: drop tag with low viewing angle: 15.1099
[ INFO] [1674505582.083330595]: [4858.127000000] subgraph err: 1.0628, subgraph sum: 155.385, full graph error: 396.708
[ INFO] [1674505582.084988620]: drop tag with low viewing angle: 15.1371
[ INFO] [1674505582.143674660]: [4857.945000000] subgraph err: 1.0102, subgraph sum: 156.396, full graph error: 398.582
[ INFO] [1674505582.145355580]: drop tag with low viewing angle: 15.13
[ INFO] [1674505582.193863542]: [4857.770000000] subgraph err: 0.968255, subgraph sum: 157.364, full graph error: 400.361
[ INFO] [1674505582.195126052]: drop tag at view angle 55.4115 with risk of flip: 0.344177
[ INFO] [1674505582.195417194]: drop tag with low viewing angle: 15.1172
[ INFO] [1674505582.244874180]: [4857.598000000] subgraph err: 0.863103, subgraph sum: 158.227, full graph error: 401.995
[ INFO] [1674505582.246760095]: drop tag at view angle 55.4115 with risk of flip: 0.344177
[ INFO] [1674505582.247450306]: drop tag with low viewing angle: 15.1172
[ INFO] [1674505582.293815290]: [4857.430000000] subgraph err: 0.883295, subgraph sum: 159.11, full graph error: 403.486
[ INFO] [1674505582.295716091]: drop tag at view angle 55.4115 with risk of flip: 0.344177
[ INFO] [1674505582.296429306]: drop tag with low viewing angle: 15.1343
[ INFO] [1674505582.360262864]: [4857.265000000] subgraph err: 0.8113, subgraph sum: 159.921, full graph error: 404.899
[ INFO] [1674505582.362004283]: drop tag at view angle 55.4115 with risk of flip: 0.344177
[ INFO] [1674505582.362293319]: drop tag with low viewing angle: 15.1395
[ INFO] [1674505582.412144590]: [4857.088000000] subgraph err: 0.716552, subgraph sum: 160.638, full graph error: 406.251
[ INFO] [1674505582.414036680]: drop tag at view angle 55.3911 with risk of flip: 0.636825
[ INFO] [1674505582.414742013]: drop tag with low viewing angle: 15.1395
[ INFO] [1674505582.469373990]: [4856.904000000] subgraph err: 0.666381, subgraph sum: 161.304, full graph error: 407.529
[ INFO] [1674505582.470814570]: drop tag at view angle 53.7235 with risk of flip: 0.947362
[ INFO] [1674505582.471526674]: drop tag with low viewing angle: 15.1333
[ INFO] [1674505582.526545478]: [4856.719000000] subgraph err: 0.632523, subgraph sum: 161.937, full graph error: 409.034
[ INFO] [1674505582.528559754]: drop tag at view angle 53.4549 with risk of flip: 0.985824
[ INFO] [1674505582.529307834]: drop tag with low viewing angle: 14.4495
[ INFO] [1674505582.586738842]: [4856.572000000] subgraph err: 0.687735, subgraph sum: 162.625, full graph error: 410.537
[ INFO] [1674505582.589010472]: drop tag at view angle 53.4549 with risk of flip: 0.985824
[ INFO] [1674505582.589738340]: drop tag with low viewing angle: 14.4376
[ INFO] [1674505582.673183657]: [4856.399000000] subgraph err: 0.740983, subgraph sum: 163.366, full graph error: 411.957
[ INFO] [1674505582.675194183]: drop tag at view angle 53.4549 with risk of flip: 0.985824
[ INFO] [1674505582.675857301]: drop tag with low viewing angle: 14.4376
[ INFO] [1674505582.759776550]: [4856.221000000] subgraph err: 0.740883, subgraph sum: 164.107, full graph error: 413.271
[ INFO] [1674505582.761092244]: drop tag at view angle 53.4324 with risk of flip: 0.734464
[ INFO] [1674505582.761771786]: drop tag with low viewing angle: 14.4376
[ INFO] [1674505582.817039003]: [4856.037000000] subgraph err: 0.600876, subgraph sum: 164.707, full graph error: 414.369
[ INFO] [1674505582.818399176]: drop tag at view angle 40.8206 with risk of flip: 0.300199
[ INFO] [1674505582.819012552]: drop tag at view angle 53.8096 with risk of flip: 0.858234
[ INFO] [1674505582.819413849]: drop tag with low viewing angle: 14.4376
[ INFO] [1674505582.884608301]: [4855.820000000] subgraph err: 0.615281, subgraph sum: 165.323, full graph error: 415.809
[ INFO] [1674505582.885891925]: drop tag at view angle 55.3498 with risk of flip: 0.716018
[ INFO] [1674505582.886196088]: drop tag with low viewing angle: 14.4658
[ INFO] [1674505582.948325982]: [4855.660000000] subgraph err: 0.553129, subgraph sum: 165.876, full graph error: 417.016
[ INFO] [1674505582.949876730]: drop tag at view angle 55.3498 with risk of flip: 0.716018
[ INFO] [1674505582.950622657]: drop tag with low viewing angle: 14.457
[ INFO] [1674505583.012122377]: [4855.498000000] subgraph err: 0.5658, subgraph sum: 166.442, full graph error: 418.175
[ INFO] [1674505583.013530166]: drop tag at view angle 55.3498 with risk of flip: 0.716018
[ INFO] [1674505583.013844793]: drop tag with low viewing angle: 14.4408
[ INFO] [1674505583.081508539]: [4855.311000000] subgraph err: 0.55116, subgraph sum: 166.993, full graph error: 419.293
[ INFO] [1674505583.082880122]: drop tag at view angle 55.3498 with risk of flip: 0.716018
[ INFO] [1674505583.083605467]: drop tag with low viewing angle: 14.4553
[ INFO] [1674505583.148916841]: [4855.149000000] subgraph err: 0.538706, subgraph sum: 167.531, full graph error: 420.376
[ INFO] [1674505583.150233723]: drop tag at view angle 55.3498 with risk of flip: 0.716018
[ INFO] [1674505583.150956759]: drop tag with low viewing angle: 14.4643
[ INFO] [1674505583.216629524]: [4854.979000000] subgraph err: 0.519553, subgraph sum: 168.051, full graph error: 421.419
[ INFO] [1674505583.217937709]: drop tag at view angle 55.3498 with risk of flip: 0.716018
[ INFO] [1674505583.218590559]: drop tag with low viewing angle: 14.4669
[ INFO] [1674505583.284322095]: [4854.790000000] subgraph err: 0.501548, subgraph sum: 168.553, full graph error: 422.424
[ INFO] [1674505583.285550853]: drop tag at view angle 55.3498 with risk of flip: 0.716018
[ INFO] [1674505583.286271724]: drop tag with low viewing angle: 15.0608
[ INFO] [1674505583.349300777]: [4854.621000000] subgraph err: 0.494065, subgraph sum: 169.047, full graph error: 423.403
[ INFO] [1674505583.350560460]: drop tag at view angle 55.3498 with risk of flip: 0.716018
[ INFO] [1674505583.351316390]: drop tag with low viewing angle: 15.0171
[ INFO] [1674505583.421294409]: [4854.446000000] subgraph err: 0.483896, subgraph sum: 169.531, full graph error: 424.354
[ INFO] [1674505583.423176431]: drop tag at view angle 55.3498 with risk of flip: 0.716018
[ INFO] [1674505583.423865611]: drop tag with low viewing angle: 15.1081
[ INFO] [1674505583.513195451]: [4854.265000000] subgraph err: 0.523733, subgraph sum: 170.054, full graph error: 425.373
[ INFO] [1674505583.514957432]: drop tag at view angle 55.3498 with risk of flip: 0.716018
[ INFO] [1674505583.515232489]: drop tag with low viewing angle: 15.1024
[ INFO] [1674505583.609468662]: [4854.083000000] subgraph err: 0.52988, subgraph sum: 170.584, full graph error: 426.431
[ INFO] [1674505583.611074504]: drop tag at view angle 55.3498 with risk of flip: 0.716018
[ INFO] [1674505583.611838329]: drop tag with low viewing angle: 15.1113
[ INFO] [1674505583.690865498]: [4853.900000000] subgraph err: 0.44316, subgraph sum: 171.027, full graph error: 427.38
[ INFO] [1674505583.692458174]: drop tag at view angle 55.3498 with risk of flip: 0.716018
[ INFO] [1674505583.693194526]: drop tag with low viewing angle: 15.1113
[ INFO] [1674505583.770086320]: [4853.722000000] subgraph err: 0.411952, subgraph sum: 171.439, full graph error: 428.314
[ INFO] [1674505583.771502843]: drop tag at view angle 55.3498 with risk of flip: 0.716018
[ INFO] [1674505583.772221353]: drop tag with low viewing angle: 15.1385
[ INFO] [1674505583.843662869]: [4853.537000000] subgraph err: 0.398407, subgraph sum: 171.838, full graph error: 429.221
[ INFO] [1674505583.845076314]: drop tag at view angle 55.3498 with risk of flip: 0.716018
[ INFO] [1674505583.845736794]: drop tag with low viewing angle: 15.1315
[ INFO] [1674505583.921651905]: [4853.386000000] subgraph err: 0.47328, subgraph sum: 172.311, full graph error: 430.089
[ INFO] [1674505583.923025200]: drop tag at view angle 55.3498 with risk of flip: 0.716018
[ INFO] [1674505583.923311548]: drop tag with low viewing angle: 15.1088
[ INFO] [1674505584.003879374]: [4853.230000000] subgraph err: 0.398273, subgraph sum: 172.709, full graph error: 430.785
[ INFO] [1674505584.005730136]: drop tag at view angle 55.3498 with risk of flip: 0.716018
[ INFO] [1674505584.006395160]: drop tag with low viewing angle: 15.1187
[ INFO] [1674505584.081964949]: [4853.055000000] subgraph err: 0.472369, subgraph sum: 173.182, full graph error: 431.521
[ INFO] [1674505584.083958780]: drop tag at view angle 55.3498 with risk of flip: 0.716018
[ INFO] [1674505584.084254149]: drop tag with low viewing angle: 15.1358
[ INFO] [1674505584.165285144]: [4852.864000000] subgraph err: 0.497614, subgraph sum: 173.679, full graph error: 432.269
[ INFO] [1674505584.166679993]: drop tag at view angle 55.3498 with risk of flip: 0.716018
[ INFO] [1674505584.167389679]: drop tag with low viewing angle: 14.9664
[ INFO] [1674505584.244760268]: [4852.695000000] subgraph err: 0.365126, subgraph sum: 174.044, full graph error: 432.841
[ INFO] [1674505584.246143119]: drop tag at view angle 55.3498 with risk of flip: 0.716018
[ INFO] [1674505584.246861193]: drop tag with low viewing angle: 14.4801
[ INFO] [1674505584.333105808]: [4852.497000000] subgraph err: 0.334806, subgraph sum: 174.379, full graph error: 433.388
[ INFO] [1674505584.334467782]: drop tag at view angle 53.427 with risk of flip: 0.731521
[ INFO] [1674505584.334752165]: drop tag with low viewing angle: 14.4783
[ INFO] [1674505584.415592410]: [4852.303000000] subgraph err: 0.365701, subgraph sum: 174.745, full graph error: 434.193
[ INFO] [1674505584.416988898]: drop tag at view angle 53.427 with risk of flip: 0.731521
[ INFO] [1674505584.417641652]: drop tag with low viewing angle: 14.4509
[ INFO] [1674505584.502635550]: [4852.151000000] subgraph err: 0.370157, subgraph sum: 175.115, full graph error: 434.9
[ INFO] [1674505584.504062788]: drop tag at view angle 53.427 with risk of flip: 0.731521
[ INFO] [1674505584.504380342]: drop tag with low viewing angle: 14.4378
[ INFO] [1674505584.592395952]: [4851.980000000] subgraph err: 0.376308, subgraph sum: 175.491, full graph error: 435.602
[ INFO] [1674505584.593795113]: drop tag at view angle 53.427 with risk of flip: 0.731521
[ INFO] [1674505584.594528168]: drop tag with low viewing angle: 14.439
[ INFO] [1674505584.681201503]: [4851.797000000] subgraph err: 0.362965, subgraph sum: 175.854, full graph error: 436.28
[ INFO] [1674505584.682506679]: drop tag at view angle 53.427 with risk of flip: 0.731521
[ INFO] [1674505584.683247751]: drop tag with low viewing angle: 14.439
[ INFO] [1674505584.770900402]: [4851.635000000] subgraph err: 0.356387, subgraph sum: 176.211, full graph error: 436.943
[ INFO] [1674505584.771869655]: drop tag at view angle 40.4003 with risk of flip: 0.365203
[ INFO] [1674505584.772194464]: drop tag at view angle 53.427 with risk of flip: 0.731521
[ INFO] [1674505584.772852091]: drop tag with low viewing angle: 14.439
[ INFO] [1674505584.859975220]: [4851.453000000] subgraph err: 0.299292, subgraph sum: 176.51, full graph error: 437.874
[ INFO] [1674505584.861307276]: drop tag at view angle 55.3438 with risk of flip: 0.712937
[ INFO] [1674505584.862056144]: drop tag with low viewing angle: 14.4673
[ INFO] [1674505584.957685021]: [4851.256000000] subgraph err: 0.326469, subgraph sum: 176.836, full graph error: 438.632
[ INFO] [1674505584.959017052]: drop tag at view angle 55.3438 with risk of flip: 0.712937
[ INFO] [1674505584.959765337]: drop tag with low viewing angle: 14.4585
[ INFO] [1674505585.026351105]: [4851.079000000] subgraph err: 0.393855, subgraph sum: 177.23, full graph error: 439.427
[ INFO] [1674505585.028204134]: drop tag at view angle 55.3438 with risk of flip: 0.712937
[ INFO] [1674505585.028985253]: drop tag with low viewing angle: 14.4422
[ INFO] [1674505585.096294569]: [4850.901000000] subgraph err: 0.401236, subgraph sum: 177.632, full graph error: 440.254
[ INFO] [1674505585.098078772]: drop tag at view angle 55.3438 with risk of flip: 0.712937
[ INFO] [1674505585.098808519]: drop tag with low viewing angle: 14.4555
[ INFO] [1674505585.189362473]: [4850.708000000] subgraph err: 0.327147, subgraph sum: 177.959, full graph error: 441.007
[ INFO] [1674505585.190630029]: drop tag at view angle 55.3438 with risk of flip: 0.712937
[ INFO] [1674505585.191332126]: drop tag with low viewing angle: 15.0615
[ INFO] [1674505585.280299414]: [4850.508000000] subgraph err: 0.31936, subgraph sum: 178.278, full graph error: 441.75
[ INFO] [1674505585.281679285]: drop tag at view angle 55.3438 with risk of flip: 0.712937
[ INFO] [1674505585.282333346]: drop tag with low viewing angle: 15.1722
[ INFO] [1674505585.370856463]: [4850.319000000] subgraph err: 0.30736, subgraph sum: 178.585, full graph error: 442.472
[ INFO] [1674505585.372200806]: drop tag at view angle 55.3438 with risk of flip: 0.712937
[ INFO] [1674505585.372877832]: drop tag with low viewing angle: 15.1722
[ INFO] [1674505585.465406281]: [4850.144000000] subgraph err: 0.302497, subgraph sum: 178.888, full graph error: 443.179
[ INFO] [1674505585.465568749]: graph after update: opt fac: 458 unopt fac: 76 opt vals: 163 unopt vals: 1
[ERROR] [1674505585.471335738]: /tagslam: Requested the BayesTree clique for a key that is not in the BayesTree
[tagslam-1] process has died [pid 13996, exit code 255, cmd /home/dt/AddverbWork/slamalgos/tagslam_ws/devel/lib/tagslam/tagslam_node __name:=tagslam __log:=/home/dt/.ros/log/ea0002dc-9b51-11ed-997c-91c581871bdd/tagslam-1.log].
log file: /home/dt/.ros/log/ea0002dc-9b51-11ed-997c-91c581871bdd/tagslam-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Answer 4 · 2023-01-23T21:23:31.000Z

Sorry I really can't say what's going on there. I suspect you discovered a bug that bites when tags are dropped due to low viewing angle. This is something that's supposed to kick in only very rarely, but in your case it's happening all the time. This may trigger a bug that is otherwise undetected.
Can you create a rosbag that's small enough to be downloaded? I'd also need the exact tagslam.yaml, cameras.yaml, and camera_poses.yaml to reproduce the problem.

Answer 5 · 2023-01-23T21:29:45.000Z

Somehow the problem is not constrained properly. TagSLAM bombs out the first time it sees a tag with known pose (i.e. tag 20). But since your tagslam.yaml file looks good I suspect it has to do with the drops.

Answer 6 · 2023-01-24T02:19:18.000Z

That sounds good to me, please have a look at these files that I'm using with the code:

https://drive.google.com/drive/folders/1pvBHGp265mASetoFkR77UB-Kbqr0yYmY?usp=sharing

The bag file is small tests_gazebo goes with other test files and test.launch goes inside launch folder in the tagslam_tests folder.

Also, I wanted to ask other questions about Tagslam and making the development better and more understandable if someone wants to use some specific functions for the code. Can I mail you regarding the same?

Answer 7 · 2023-01-24T12:30:13.000Z

I had a look at your files:

your tagslam.yaml has tag size = 1.0. So you are using 1m tags? Please check. To get any thing sensible I had to position your root tag (id 20) at a height of 5m.
your cameras.yaml has the intrinsics wrong. It should read like this:
intrinsics: [1206.8897719532354, 1206.8897719532354, 960.5, 540.5]
you are feeding in odometry. That's great, but odometry confers scale. So if your tag size is wrong, TagSLAM gets conflicting data from odom and tags.
If you use odometry, you need to correctly specify the transform between odometry and body. You tried first with some absurdly large values (y: 11.66, that's meters!) and no rotations (fat chance your camera and odometry body pose are identical!). This way the odometry does more harm than good.
Given the placement and viewing angles, you cannot run on tags only. You need odom to get decent results. But for odom to work, you need to work out the transform (most importantly, the rotation!) between your camera coordinate system (which is identical to your rig body) and whatever your odometry subsystem considers its reference frame.
Below is the best I could get using fake_odom (note: you will get way better results using your odom, but with the correct transform)

Answer 8 · 2023-01-24T15:48:26.000Z

Thank you so much for a detailed analysis, and I have explanations for a few of your questions and followups:

Yes, the tag size is 1m (I wanted large tags so they are easy to detect). Also, when you said you had to change the z value to 5m does that mean it did not work with the given value(those are poses of tags in the gazebo global coordinate system(I believe those are to be located with respect to the perch body))?
I realised the transform is incorrect as I first thought it was the transform from the map coordinate system to the camera, and I can include the Odom to the camera (where is it taken into account in the code?).
I was not aware that camera parameters need to be given in a different format.

Also, what do you mean you used fake Odom? Is it the same data but changed in scale?

A question on tuning and finding parameters? Did you use mine or did you have a method to set the same?

Answer 9 · 2023-01-24T17:40:00.000Z

Hello, I made the changes(or close) to what you suggested, but I'm still not able to get the results that you have shown in the figure, can you share your files with me so that I can recreate these results?

Answer 10 · 2023-01-25T13:14:59.000Z

Your pose was totally screwed up. I assume the robot moves in the ground plane. Your robot was not. To make it move in a ground plane I had to place tag 20 at about 5m high.
You can read about how to set the odom transform up here: https://berndpfrommer.github.io/tagslam_web/input_files/
The format in which the intrinsic calib is to be given can be found here (also read NOTE at the very bottom of page): https://berndpfrommer.github.io/tagslam_web/intrinsic_calibration/

@dt1729 you can read about fake odom here:
https://berndpfrommer.github.io/tagslam_web/input_files/

Sorry the rviz graph I sent you was an intermediate result. I kept hacking the files trying to use your odom so I lost the exact files that produced the graph above (they were obtained by disabling your odom).

Answer 11 · 2024-03-30T08:21:03.000Z

closing this as resolved. Please re-open if there are still problems.