Description
Hi, I used ubantu 20 and ROS nietic to run the code, and the following problems occurred.
- SVO stays at the first frame initialization
2、alled after throwing an instance of 'cv::Exception'
what(): OpenCV(4.5.5-dev) /home/sly/opencv_ build/opencv/modules/core/src/matrix. cpp:246: error: (-215:Assertion failed) s >= 0 in function 'setSize
'[svo-1] process has died [pid 3794, exit code -6
Can someone help me look at this problem? Thank you very much
Complete information：
NODES
/
svo (svo_ros/vo)
ROS_MASTER_URI=http://localhost:11311
process[svo-1]: started with pid [3794]
create vo_node
[ WARN] [1648124274.689303440]: Cannot find value for parameter: svo/publish_img_pyr_level, assigning default: 0
[ WARN] [1648124274.690045421]: Cannot find value for parameter: svo/publish_every_nth_img, assigning default: 1
[ WARN] [1648124274.690278786]: Cannot find value for parameter: svo/publish_every_nth_dense_input, assigning default: 1
[ WARN] [1648124274.690686660]: Cannot find value for parameter: svo/publish_world_in_cam_frame, assigning default: 1
[ WARN] [1648124274.690809861]: Cannot find value for parameter: svo/publish_map_every_frame, assigning default: 0
[ WARN] [1648124274.690933714]: Cannot find value for parameter: svo/publish_point_display_time, assigning default: 0
[ WARN] [1648124274.706071995]: Cannot find value for parameter: svo/publish_markers, assigning default: 1
[ WARN] [1648124274.706295756]: Cannot find value for parameter: svo/publish_dense_input, assigning default: 0
[ WARN] [1648124274.706534472]: Cannot find value for parameter: svo/accept_console_user_input, assigning default: 1
[ INFO] [1648124274.706757335]: Found parameter: svo/cam_model, value: ATAN
[ INFO] [1648124274.706967626]: Found parameter: svo/cam_width, value: 752
[ INFO] [1648124274.707200980]: Found parameter: svo/cam_height, value: 480
[ INFO] [1648124274.707345053]: Found parameter: svo/cam_fx, value: 0.509326
[ INFO] [1648124274.707463839]: Found parameter: svo/cam_fy, value: 0.796651
[ INFO] [1648124274.707575878]: Found parameter: svo/cam_cx, value: 0.45905
[ INFO] [1648124274.707686149]: Found parameter: svo/cam_cy, value: 0.510056
[ INFO] [1648124274.707797933]: Found parameter: svo/cam_d0, value: 0.932
[ WARN] [1648124274.707915401]: Cannot find value for parameter: svo/init_tz, assigning default: 0
[ WARN] [1648124274.708028565]: Cannot find value for parameter: svo/init_ty, assigning default: 0
[ WARN] [1648124274.708142472]: Cannot find value for parameter: svo/init_tx, assigning default: 0
[ INFO] [1648124274.708254016]: Found parameter: svo/init_rz, value: 0
[ INFO] [1648124274.708366171]: Found parameter: svo/init_ry, value: 0
[ INFO] [1648124274.708477172]: Found parameter: svo/init_rx, value: 3.14
[ WARN] [1648124274.708622851]: Cannot find value for parameter: svo/trace_name, assigning default: svo
[ WARN] [1648124274.708730793]: Cannot find value for parameter: svo/trace_dir, assigning default: /tmp
[ WARN] [1648124274.708840237]: Cannot find value for parameter: svo/n_pyr_levels, assigning default: 3
[ WARN] [1648124274.708947725]: Cannot find value for parameter: svo/use_imu, assigning default: 0
[ WARN] [1648124274.709053960]: Cannot find value for parameter: svo/core_n_kfs, assigning default: 3
[ WARN] [1648124274.709163967]: Cannot find value for parameter: svo/map_scale, assigning default: 1
[ INFO] [1648124274.709271238]: Found parameter: svo/grid_size, value: 30
[ WARN] [1648124274.709381492]: Cannot find value for parameter: svo/init_min_disparity, assigning default: 50
[ WARN] [1648124274.709488443]: Cannot find value for parameter: svo/init_min_tracked, assigning default: 50
[ WARN] [1648124274.709594629]: Cannot find value for parameter: svo/init_min_inliers, assigning default: 40
[ WARN] [1648124274.709700896]: Cannot find value for parameter: svo/klt_max_level, assigning default: 4
[ WARN] [1648124274.709807540]: Cannot find value for parameter: svo/klt_min_level, assigning default: 2
[ WARN] [1648124274.709917106]: Cannot find value for parameter: svo/reproj_thresh, assigning default: 2
[ WARN] [1648124274.710023545]: Cannot find value for parameter: svo/poseoptim_thresh, assigning default: 2
[ WARN] [1648124274.710130055]: Cannot find value for parameter: svo/poseoptim_num_iter, assigning default: 10
[ WARN] [1648124274.710235521]: Cannot find value for parameter: svo/structureoptim_max_pts, assigning default: 20
[ WARN] [1648124274.710344886]: Cannot find value for parameter: svo/structureoptim_num_iter, assigning default: 5
[ WARN] [1648124274.710454163]: Cannot find value for parameter: svo/loba_thresh, assigning default: 2
[ WARN] [1648124274.710561397]: Cannot find value for parameter: svo/loba_robust_huber_width, assigning default: 1
[ INFO] [1648124274.710667294]: Found parameter: svo/loba_num_iter, value: 0
[ WARN] [1648124274.710773608]: Cannot find value for parameter: svo/kfselect_mindist, assigning default: 0.12
[ WARN] [1648124274.710879874]: Cannot find value for parameter: svo/triang_min_corner_score, assigning default: 20
[ WARN] [1648124274.710986121]: Cannot find value for parameter: svo/triang_half_patch_size, assigning default: 4
[ WARN] [1648124274.711094621]: Cannot find value for parameter: svo/subpix_n_iter, assigning default: 10
[ INFO] [1648124274.711200935]: Found parameter: svo/max_n_kfs, value: 10
[ WARN] [1648124274.711307570]: Cannot find value for parameter: svo/img_imu_delay, assigning default: 0
[ WARN] [1648124274.711415676]: Cannot find value for parameter: svo/max_fts, assigning default: 120
[ WARN] [1648124274.711520646]: Cannot find value for parameter: svo/quality_min_fts, assigning default: 50
[ WARN] [1648124274.711627023]: Cannot find value for parameter: svo/quality_max_drop_fts, assigning default: 40
[ INFO] [1648124274.711675892]: SVO initialized
[ INFO] [1648124274.711838150]: Found parameter: svo/cam_topic, value: /camera/image_raw
[ INFO] [1648124279.038054925]: RESET
[ INFO] [1648124279.039258720]: Init: Selected first frame.
terminate called after throwing an instance of 'cv::Exception'
what(): OpenCV(4.5.5-dev) /home/sly/opencv_build/opencv/modules/core/src/matrix.cpp:246: error: (-215:Assertion failed) s >= 0 in function 'setSize'
[svo-1] process has died [pid 3794, exit code -6, cmd /home/sly/catkin_ws/devel/lib/svo_ros/vo __name:=svo __log:=/home/sly/.ros/log/12796518-ab6c-11ec-a8bf-eb02f9b8eb09/svo-1.log].
log file: /home/sly/.ros/log/12796518-ab6c-11ec-a8bf-eb02f9b8eb09/svo-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done