Running vio mono fail
Closed this issue · 1 comments
EnderMandS commented
我正在尝试使用 EuRoc MH_01_easy 数据集进行单目测试
roslaunch svo_ros euroc_vio_mono.launch
rosbag play ~/dataset/euroc/MH_01_easy.bag
运行后出现如下错误
[ INFO] [1713845557.314806893]: DepthFilter: RESET.
[ INFO] [1713845557.924445191]: Init: Triangulated 270 points
[ WARN] [1713845557.930268830]: Not enough matched features: 1
[ WARN] [1713845558.108838740]: update seed with ref frame
[ INFO] [1713845558.126628123]: DepthFilter: RESET.
[ INFO] [1713845558.132423986]: DepthFilter: RESET.
[ INFO] [1713845558.634061873]: Init: Triangulated 253 points
F0423 04:12:38.638149 24000 schur_vins.cpp:158] Check failed: _dt >= 0 && _dt < 0.015 dt: 0.145
*** Check failure stack trace: ***
@ 0xffffa4f0d478 google::LogMessage::Fail()
@ 0xffffa4f12114 google::LogMessage::SendToLog()
@ 0xffffa4f0d16c google::LogMessage::Flush()
@ 0xffffa4f0d9ec google::LogMessageFatal::~LogMessageFatal()
@ 0xffffa52b1360 schur_vins::SchurVINS::Prediction()
@ 0xffffa52b1f38 schur_vins::SchurVINS::Forward()
@ 0xffffa5250a48 svo::FrameHandlerBase::schurvinsForward()
@ 0xffffa5250b6c svo::FrameHandlerBase::sparseImageAlignment()
@ 0xffffa523e180 svo::FrameHandlerMono::processFrame()
@ 0xffffa523dbfc svo::FrameHandlerMono::processFrameBundle()
@ 0xffffa52642cc svo::FrameHandlerBase::addFrameBundle()
@ 0xffffa5265b60 svo::FrameHandlerBase::addImageBundle()
@ 0xffffa5bce144 svo::SvoInterface::processImageBundle()
@ 0xffffa5bd0248 svo::SvoInterface::monoCallback()
@ 0xffff946cfc88 image_transport::RawSubscriber::internalCallback()
@ 0xffffa55962bc boost::detail::function::void_function_obj_invoker1<>::invoke()
@ 0xffff946d3b30 ros::SubscriptionCallbackHelperT<>::call()
@ 0xffffa5dede6c ros::SubscriptionQueue::call()
@ 0xffffa5d99a6c ros::CallbackQueue::callOneCB()
@ 0xffffa5d9b194 ros::CallbackQueue::callAvailable()
@ 0xffffa5bd14e8 svo::SvoInterface::monoLoop()
@ 0xffffa5a78f9c (unknown)
@ 0xffffa5c4c624 start_thread
@ 0xffffa58e662c (unknown)
当我尝试注释 schur_vins.cpp:158 中的 CHECK(_dt >= 0 && _dt < 0.015) << "dt: " << _dt; 并继续运行代码时，单目并不能正常初始化
[ INFO] [1713846196.049524194]: Found parameter: cam0_topic, value: /cam0/image_raw
[ INFO] [1713846201.779568090]: DepthFilter: RESET.
[ INFO] [1713846202.466484290]: Init: Triangulated 273 points
[ WARN] [1713846202.471739380]: Not enough matched features: 0
[ INFO] [1713846202.526014361]: DepthFilter: RESET.
[ INFO] [1713846202.540202016]: DepthFilter: RESET.
[ INFO] [1713846203.150429742]: Init: Triangulated 184 points
[ WARN] [1713846203.205118006]: update seed with ref frame
[ INFO] [1713846203.207485165]: DepthFilter: RESET.
[ INFO] [1713846203.280929192]: DepthFilter: RESET.
[ INFO] [1713846204.748265458]: Init: Triangulated 273 points
[ WARN] [1713846204.755045394]: Not enough matched features: 0
[ INFO] [1713846204.803306205]: DepthFilter: RESET.
[ INFO] [1713846204.929605295]: DepthFilter: RESET.
[ INFO] [1713846205.971445961]: Init: Triangulated 212 points
[ WARN] [1713846205.976854076]: Not enough matched features: 0
[ INFO] [1713846206.025532875]: DepthFilter: RESET.
[ INFO] [1713846206.039397071]: DepthFilter: RESET.
[ INFO] [1713846206.595847774]: Init: Triangulated 270 points
[ WARN] [1713846206.651199885]: update seed with ref frame
[ INFO] [1713846206.672586552]: DepthFilter: RESET.
[ INFO] [1713846206.679501562]: DepthFilter: RESET.
[ INFO] [1713846207.672123487]: Init: Triangulated 358 points
[ WARN] [1713846207.678051447]: Not enough matched features: 0
[ INFO] [1713846207.724733300]: DepthFilter: RESET.
[ INFO] [1713846207.778182832]: DepthFilter: RESET.
[ INFO] [1713846208.238005096]: Init: Triangulated 462 points
[ INFO] [1713846208.291663814]: DepthFilter: RESET.
[ INFO] [1713846208.338507812]: DepthFilter: RESET.
[ INFO] [1713846208.884368398]: Init: Triangulated 427 points
[ WARN] [1713846208.890133989]: Not enough matched features: 0
在运行双目测试时 roslaunch svo_ros euroc_vio_stereo.launch 不会出现上述错误
请问我应如何解决该问题
frank-fyf commented
不改动代码的情况下，是不支持单目运行的。
如果需要单目运行，需要在代码里面适配一下。