roslaunch realm_ros alexa_noreco error
TinaBxt opened this issue · 3 comments
hi, thank you very much for your open source spirit. Now I compiled the project, but an error was reported during runtime. Can you help me find out what the problem is?
roslaunch realm_ros alexa_noreco.launch
error：
2020-07-21 08:59:44.906 ( 0.067s) [ 9A5D3340] densification.cpp:52 WARN| Densification launched, but settings forbid.
2020-07-21 08:59:44.906 ( 0.067s) [ 9A5D3340] densification.cpp:53 WARN| Try set 'use_sparse_depth' or 'use_dense_depth' in settings. All frames are redirected.
[realm_pose_estimation-3] process has died [pid 11341, exit code -6, cmd /home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/devel/lib/realm_ros/realm_stage_node __name:=realm_pose_estimation __log:=/home/bxt/.ros/log/76f0445a-caed-11ea-a7c1-00d86120b817/realm_pose_estimation-3.log].
log file: /home/bxt/.ros/log/76f0445a-caed-11ea-a7c1-00d86120b817/realm_pose_estimation-3*.log
setting /run_id to 76f0445a-caed-11ea-a7c1-00d86120b817
process[rosout-1]: started with pid [11323]
started core service [/rosout]
process[realm_exiv2_grabber-2]: started with pid [11340]
process[realm_pose_estimation-3]: started with pid [11341]
process[realm_densification-4]: started with pid [11342]
process[realm_surface_generation-5]: started with pid [11343]
process[realm_ortho_rectification-6]: started with pid [11344]
process[realm_mosaicing-7]: started with pid [11345]
process[rviz-8]: started with pid [11346]
[ INFO] [1595293184.892678427]: STAGE_NODE [densification]: Loading stage settings from path:
/home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/densification/stage_settings.yaml
[ INFO] [1595293184.892904989]: STAGE_NODE [densification]: Detected stage type: 'densification'
[ INFO] [1595293184.894360878]: STAGE_NODE [pose_estimation]: Loading stage settings from path:
/home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/pose_estimation/stage_settings.yaml
[ INFO] [1595293184.894612457]: STAGE_NODE [pose_estimation]: Detected stage type: 'pose_estimation'
[ INFO] [1595293184.902519914]: Exiv2 Grabber Node [Ankommen]: Successfully loaded camera:
cx = 610.324
cy = 516.917
fx = 1209.07
fy = 1210.66
k1 = -0.198806
k2 = 0.122544
p1 = -0.000221
p2 = -0.000877
[ INFO] [1595293184.905241342]: STAGE_NODE [pose_estimation]: : Loading camera from path:
/home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/camera/calib.yaml
[ INFO] [1595293184.905352018]: STAGE_NODE [pose_estimation]: : Detected camera model: 'pinhole'
[ INFO] [1595293184.905373060]: STAGE_NODE [pose_estimation]: : Loading vslam settings from path:
/home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/pose_estimation/method/dsm_settings.yaml
terminate called after throwing an instance of 'std::invalid_argument'
what(): Error: Loading visual slam settings failed. Method 'DSM' not recognized
[ INFO] [1595293184.906117139]: STAGE_NODE [densification]: : Loading camera from path:
/home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/camera/calib.yaml
[ INFO] [1595293184.906223425]: STAGE_NODE [densification]: : Detected camera model: 'pinhole'
[ INFO] [1595293184.906241349]: STAGE_NODE [densification]: : Loading densifier settings from path:
/home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/densification/method/dummy_settings.yaml
[ INFO] [1595293184.906308927]: STAGE_NODE [densification]: : Detected densifier type: 'DUMMY'
2020-07-21 08:59:44.906 ( 0.067s) [ 9A5D3340] densification.cpp:52 WARN| Densification launched, but settings forbid.
2020-07-21 08:59:44.906 ( 0.067s) [ 9A5D3340] densification.cpp:53 WARN| Try set 'use_sparse_depth' or 'use_dense_depth' in settings. All frames are redirected.
[ INFO] [1595293184.909657728]: STAGE_NODE [densification]: Started stage node successfully!
2020-07-21 08:59:44.909 ( 0.070s) [ 669CF700] worker_thread_base.cpp:57 0| Thread 'Stage [densification]' starting loop...
[ INFO] [1595293184.911362123]: STAGE_NODE [ortho_rectification]: Loading stage settings from path:
/home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/ortho_rectification/stage_settings.yaml
[ INFO] [1595293184.911591026]: STAGE_NODE [ortho_rectification]: Detected stage type: 'ortho_rectification'
[ INFO] [1595293184.914034233]: Scanning input image for provided meta tags...
[ INFO] [1595293184.914454582]: [FOUND] 'Exif.GPSInfo.GPSAltitude'
[ INFO] [1595293184.914474502]: [FOUND] 'Exif.GPSInfo.GPSLatitude'
[ INFO] [1595293184.914487105]: [FOUND] 'Exif.GPSInfo.GPSLongitude'
[ INFO] [1595293184.914498593]: [FOUND] 'Exif.Image.Model'
[ INFO] [1595293184.914509656]: [FOUND] 'Xmp.exif.REALM.Heading'
[ WARN] [1595293184.914522011]: [NOT FOUND] 'Xmp.exif.REALM.Timestamp'
[ INFO] [1595293184.914551958]: Image #0, image Path: /home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/edm_big_overlap_50p/img_0000.jpg
[ INFO] [1595293184.918102882]: STAGE_NODE [ortho_rectification]: : Loading camera from path:
/home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/camera/calib.yaml
[ INFO] [1595293184.918208584]: STAGE_NODE [ortho_rectification]: : Detected camera model: 'pinhole'
Stage [ortho_rectification]: Created Stage with Settings:
[save_elevation_angle]: 0
[save_elevation]: 0
[save_valid]: 0
[type]: ortho_rectification
[save_ortho_gtiff]: 0
[queue_size]: 5
[save_ortho_rgb]: 0
[path_output]:
[GSD]: 0.1
[ INFO] [1595293184.921860034]: STAGE_NODE [ortho_rectification]: Started stage node successfully!
2020-07-21 08:59:44.921 ( 0.045s) [ 3F7FE700] worker_thread_base.cpp:57 0| Thread 'Stage [ortho_rectification]' starting loop...
[ INFO] [1595293184.927399086]: STAGE_NODE [mosaicing]: Loading stage settings from path:
/home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/mosaicing/stage_settings.yaml
[ INFO] [1595293184.927725233]: STAGE_NODE [mosaicing]: Detected stage type: 'mosaicing'
[ INFO] [1595293184.928936277]: STAGE_NODE [surface_generation]: Loading stage settings from path:
/home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/surface_generation/stage_settings.yaml
[ INFO] [1595293184.929152161]: STAGE_NODE [surface_generation]: Detected stage type: 'surface_generation'
[ INFO] [1595293184.937669907]: STAGE_NODE [mosaicing]: : Loading camera from path:
/home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/camera/calib.yaml
[ INFO] [1595293184.937811608]: STAGE_NODE [mosaicing]: : Detected camera model: 'pinhole'
Stage [mosaicing]: Created Stage with Settings:
[downsample_publish_mesh]: 0.5
[save_elevation_var_one]: 0
[save_num_obs_all]: 0
[publish_mesh_at_finish]: 0
[th_elevation_variance]: 1
[type]: mosaicing
[save_valid]: 0
[save_elevation_obs_angle_one]: 1
[split_gtiff_channels]: 0
[queue_size]: 5
[path_output]:
[th_elevation_min_nobs]: 2
[publish_mesh_every_nth_kf]: 0
[save_ortho_rgb_all]: 0
[save_ortho_rgb_one]: 0
[save_ortho_gtiff_one]: 1
[save_elevation_all]: 0
[save_dense_ply]: 0
[save_ortho_gtiff_all]: 0
[save_num_obs_one]: 1
[save_elevation_one]: 1
[save_elevation_var_all]: 0
[save_elevation_obs_angle_all]: 0
[save_elevation_mesh_one]: 0
[ INFO] [1595293184.941415707]: STAGE_NODE [surface_generation]: : Loading camera from path:
/home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_noreco/camera/calib.yaml
[ INFO] [1595293184.941520487]: STAGE_NODE [surface_generation]: : Detected camera model: 'pinhole'
[ INFO] [1595293184.941595868]: STAGE_NODE [mosaicing]: Started stage node successfully!
2020-07-21 08:59:44.941 ( 0.076s) [ C5FFB700] worker_thread_base.cpp:57 0| Thread 'Stage [mosaicing]' starting loop...
[ INFO] [1595293184.942773009]: STAGE_NODE [surface_generation]: Started stage node successfully!
2020-07-21 08:59:44.942 ( 0.076s) [ 7B7FE700] worker_thread_base.cpp:57 0| Thread 'Stage [surface_generation]' starting loop...
[ INFO] [1595293185.014796964]: Image #1, image Path: /home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/edm_big_overlap_50p/img_0001.jpg
[realm_pose_estimation-3] process has died [pid 11341, exit code -6, cmd /home/bxt/micROS_TAIIC/work/20200706_air_ground_sea_plan/OpenSourceCode/catkin_ws/devel/lib/realm_ros/realm_stage_node __name:=realm_pose_estimation __log:=/home/bxt/.ros/log/76f0445a-caed-11ea-a7c1-00d86120b817/realm_pose_estimation-3.log].
log file: /home/bxt/.ros/log/76f0445a-caed-11ea-a7c1-00d86120b817/realm_pose_estimation-3*.log
[ INFO] [1595293185.115047164]: Image #2, image Path: /home/work/OpenSourceCode/edm_big_overlap_50p/img_0002.jpg
[ INFO] [1595293185.215296634]: Image #3, image Path: /home/work/OpenSourceCode/edm_big_overlap_50p/img_0003.jpg
[ INFO] [1595293185.315579823]: Image #4, image Path: /home/work/OpenSourceCode/edm_big_overlap_50p/img_0004.jpg
@TinaBxt: Hey, yes I can help you. Your actual error is here:
terminate called after throwing an instance of 'std::invalid_argument'
what(): Error: Loading visual slam settings failed. Method 'DSM' not recognized
To fix it, go to your launch file realm_ros/launch/alexa_noreco.launch and edit the following line:
<param name="config/method" type="string" value="dsm"/>
to
<param name="config/method" type="string" value="orb_slam2"/>
It's an error from my side. I will fix it in the master branch soon. Let me know if there are other problems that come up.
Best regards,
Alex
If you have any more trouble feel free to reopen. For now I'll close this then.