cannot launch feature_tracker

[SunggooJung]

Hi, thank you for your valuable open-source code.

By the way, I cannot launch the feature_tracker packge.

I'm trying to run in the Nvidia TX1, ubuntu 16.04, ROS Kinetic.

When I launch >> roslaunch vins_estimator euroc.launch

ubuntu@tegra-ubuntu:~/catkin_ws$ roslaunch vins_estimator euroc.launch ... logging to /home/ubuntu/.ros/log/00587f2e-55c5-11e7-a1fc-00044b57fe0c/roslaunch-tegra-ubuntu-10137.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://tegra-ubuntu:39893/

SUMMARY

PARAMETERS

• /feature_tracker/config_file: /home/ubuntu/catk...
• /feature_tracker/vins_folder: /home/ubuntu/catk...
• /rosdistro: kinetic
• /rosversion: 1.12.7
• /vins_estimator/config_file: /home/ubuntu/catk...
• /vins_estimator/vins_folder: /home/ubuntu/catk...

NODES / feature_tracker (feature_tracker/feature_tracker) vins_estimator (vins_estimator/vins_estimator)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[feature_tracker-1]: started with pid [10155] process[vins_estimator-2]: started with pid [10156] OpenCV Error: Bad argument (Invalid pointer to file storage) in cvGetFileNodeByName, file /tmp/binarydeb/ros-kinetic-opencv3-3.2.0/modules/core/src/persistence.cpp, line 863 terminate called after throwing an instance of 'cv::Exception' what(): /tmp/binarydeb/ros-kinetic-opencv3-3.2.0/modules/core/src/persistence.cpp:863: error: (-5) Invalid pointer to file storage in function cvGetFileNodeByName [ INFO] [1497969209.836649578]: init begins

[feature_tracker-1] process has died [pid 10155, exit code -6, cmd /home/ubuntu/catkin_ws/devel/lib/feature_tracker/feature_tracker __name:=feature_tracker __log:=/home/ubuntu/.ros/log/00587f2e-55c5-11e7-a1fc-00044b57fe0c/feature_tracker-1.log].

log file: /home/ubuntu/.ros/log/00587f2e-55c5-11e7-a1fc-00044b57fe0c/feature_tracker-1*.log

[ INFO] [1497969209.853653828]: Loaded config_file: /home/ubuntu/catkin_ws/src/VINS-Mono/feature_tracker/../config/euroc/euroc_config.yaml [ INFO] [1497969209.855908798]: Loaded vins_folder: /home/ubuntu/catkin_ws/src/VINS-Mono/feature_tracker/../config/../ [ WARN] [1497969209.856349729]: Optimize extrinsic param around initial guess! [ INFO] [1497969209.857591900]: Extrinsic_R : 2.22045e-16 -1 0 1 2.22045e-16 0 0 0 1 [ INFO] [1497969209.857880906]: Extrinsic_T : -0.02 -0.06 0.01 [ WARN] [1497969209.858156528]: waiting for image and imu... [ WARN] [1497969209.917905097]: DATA SUBSCRIBED [ WARN] [1497969209.918072907]: LOOP_CLOSURE true voc file: /home/ubuntu/catkin_ws/src/VINS-Mono/feature_tracker/../config/..//support_files/brief_k10L6.bin OpenCV Error: Bad argument (Invalid pointer to file storage) in cvGetFileNodeByName, file /tmp/binarydeb/ros-kinetic-opencv3-3.2.0/modules/core/src/persistence.cpp, line 863 terminate called after throwing an instance of 'cv::Exception' what(): /tmp/binarydeb/ros-kinetic-opencv3-3.2.0/modules/core/src/persistence.cpp:863: error: (-5) Invalid pointer to file storage in function cvGetFileNodeByName [vins_estimator-2] process has died [pid 10156, exit code -6, cmd /home/ubuntu/catkin_ws/devel/lib/vins_estimator/vins_estimator __name:=vins_estimator __log:=/home/ubuntu/.ros/log/00587f2e-55c5-11e7-a1fc-00044b57fe0c/vins_estimator-2.log]. log file: /home/ubuntu/.ros/log/00587f2e-55c5-11e7-a1fc-00044b57fe0c/vins_estimator-2.log all processes on machine have died, roslaunch will exit* shutting down processing monitor... ... shutting down processing monitor complete

done

Therefore I try to launch feature_tracker directly to see the error part, it shows

---

ubuntu@tegra-ubuntu:~/catkin_ws$ roslaunch feature_tracker euroc.launch ... logging to /home/ubuntu/.ros/log/00587f2e-55c5-11e7-a1fc-00044b57fe0c/roslaunch-tegra-ubuntu-9993.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://tegra-ubuntu:45356/

SUMMARY

PARAMETERS

• /feature_tracker/F_threshold: 1.0
• /feature_tracker/calib_dir: /home/ubuntu/catk...
• /feature_tracker/cam_name0: euroc0_camera_cal...
• /feature_tracker/equalize: False
• /feature_tracker/fisheye: False
• /feature_tracker/freq: 1
• /feature_tracker/max_cnt: 200
• /feature_tracker/min_dist: 20
• /feature_tracker/show_track: True
• /rosdistro: kinetic
• /rosversion: 1.12.7

NODES / feature_tracker (feature_tracker/feature_tracker) player (rosbag/play)

auto-starting new master process[master]: started with pid [10004] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 00587f2e-55c5-11e7-a1fc-00044b57fe0c process[rosout-1]: started with pid [10017] started core service [/rosout] process[player-2]: started with pid [10024] process[feature_tracker-3]: started with pid [10033] [ERROR] [1497969027.609730521]: Failed to load config_file OpenCV Error: Null pointer (NULL or empty buffer) in cvOpenFileStorage, file /tmp/binarydeb/ros-kinetic-opencv3-3.2.0/modules/core/src/persistence.cpp, line 4153 terminate called after throwing an instance of 'cv::Exception' what(): /tmp/binarydeb/ros-kinetic-opencv3-3.2.0/modules/core/src/persistence.cpp:4153: error: (-27) NULL or empty buffer in function cvOpenFileStorage

[feature_tracker-3] process has died [pid 10033, exit code -6, cmd /home/ubuntu/catkin_ws/devel/lib/feature_tracker/feature_tracker ~imu:=/imu0 ~raw_image:=/cam0/image_raw __name:=feature_tracker __log:=/home/ubuntu/.ros/log/00587f2e-55c5-11e7-a1fc-00044b57fe0c/feature_tracker-3.log]. log file: /home/ubuntu/.ros/log/00587f2e-55c5-11e7-a1fc-00044b57fe0c/feature_tracker-3*.log [player-2] process has finished cleanly log file: /home/ubuntu/.ros/log/00587f2e-55c5-11e7-a1fc-00044b57fe0c/player-2*.log

Actually I still not understood the meaning of below two list, in the feature_tracker/launch/euroc.launch param name="calib_dir" type="string" value="$(find feature_tracker)/config/" /> param name="cam_name0" type="string" value="euroc0_camera_calib_mei.yaml" />

Thanks.

[qintonguav]

We don't maintain feature_tracker/euroc.launch for a long time, it can't be used at all. Sorry for that, we will remove this launch file in the next version. We develop VINS_mono based on Opencv 2.4. This issue may be caused by Opencv 3.2. From the print information, it can be seen the problem exists in the file interface when loading the file by Opencv. OpenCV Error: Bad argument (Invalid pointer to file storage) in cvGetFileNodeByName It seems to be easy to solve it by yourself.

[duyilong]

@qintony execuse me, I feel confused about your explanation here, can I get more details about it? I run this project(latest version till today) on my PC(Ubuntu 14.04 + ROS Indigo + OpenCV2.4.8(installed with Indigo), no extra opencv release version), when I launch

roslaunch vins_estimator euroc.launch

I encounter the same OpenCV Error.

However I can't get the proper solutions to this Error. It would be kind of you to show me more detalis about it, thanks very much.

[qintonguav]

@duyilong are your Ubuntu is 64 bit? Can you paste your terminal output here?

[duyilong]

@qintony It is Ubuntu 64bit. here is the terminal output:

[duyl@ ~/catkin_ws]15:31$ roslaunch vins_estimator euroc.launch ... logging to /home/duyl/.ros/log/be91a318-5b0a-11e7-ae9c-b191e14994a5/roslaunch-Vestro-13435.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://Vestro:33430/

SUMMARY

PARAMETERS

• /feature_tracker/config_file: /home/duyl/catkin...
• /feature_tracker/vins_folder: /home/duyl/catkin...
• /rosdistro: indigo
• /rosversion: 1.11.21
• /vins_estimator/config_file: /home/duyl/catkin...
• /vins_estimator/vins_folder: /home/duyl/catkin...

NODES / feature_tracker (feature_tracker/feature_tracker) vins_estimator (vins_estimator/vins_estimator)

auto-starting new master process[master]: started with pid [13447] ROS_MASTER_URI=http://localhost:11311

setting /run_id to be91a318-5b0a-11e7-ae9c-b191e14994a5 process[rosout-1]: started with pid [13460] started core service [/rosout] process[feature_tracker-2]: started with pid [13463] process[vins_estimator-3]: started with pid [13464] [ INFO] [1498548740.240432998]: init begins [ INFO] [1498548740.312212456]: Loaded config_file: /home/duyl/catkin_ws/src/VINS-Mono/feature_tracker/../config/euroc/euroc_config.yaml

OpenCV Error: Bad argument (Invalid pointer to file storage) in cvGetFileNodeByName, file /build/buildd/opencv-2.4.8+dfsg1/modules/core/src/persistence.cpp, line 740 [ INFO] [1498548740.315501276]: Loaded vins_folder: /home/duyl/catkin_ws/src/VINS-Mono/feature_tracker/../config/../ OpenCV Error: Bad argument (Invalid pointer to file storage) in cvGetFileNodeByName, file /build/buildd/opencv-2.4.8+dfsg1/modules/core/src/persistence.cpp, line 740 terminate called after throwing an instance of 'cv::Exception' what(): /build/buildd/opencv-2.4.8+dfsg1/modules/core/src/persistence.cpp:740: error: (-5) Invalid pointer to file storage in function cvGetFileNodeByName

terminate called after throwing an instance of 'cv::Exception' what(): /build/buildd/opencv-2.4.8+dfsg1/modules/core/src/persistence.cpp:740: error: (-5) Invalid pointer to file storage in function cvGetFileNodeByName

[feature_tracker-2] process has died [pid 13463, exit code -6, cmd /home/duyl/catkin_ws/devel/lib/feature_tracker/feature_tracker __name:=feature_tracker __log:=/home/duyl/.ros/log/be91a318-5b0a-11e7-ae9c-b191e14994a5/feature_tracker-2.log]. log file: /home/duyl/.ros/log/be91a318-5b0a-11e7-ae9c-b191e14994a5/feature_tracker-2*.log [vins_estimator-3] process has died [pid 13464, exit code -6, cmd /home/duyl/catkin_ws/devel/lib/vins_estimator/vins_estimator __name:=vins_estimator __log:=/home/duyl/.ros/log/be91a318-5b0a-11e7-ae9c-b191e14994a5/vins_estimator-3.log]. log file: /home/duyl/.ros/log/be91a318-5b0a-11e7-ae9c-b191e14994a5/vins_estimator-3*.log

To be honest, I even couldn't find the persistence.cpp file mentioned in the Error, which is pretty awkward. Orz...

[AaboutL]

@duyilong I just met the same error as yours. There were opencv2.4 and opencv3.2 in my ubuntu 14.04. After removed opencv3.2, clean catkin_ws/build, and executed catkin_make, the Mono can run. If you haven't fixed this error, hope this can help.

[duyilong]

@AaboutL Thanks for your advise, but that didn't work. Same Error happened. I run

pkg-config --modversion opencv

and the output is

2.4.8

does that mean I have remove opencv-2.4.11 already?

[varun3108]

... logging to /home/mindbeat/.ros/log/78fc1f5e-1dcb-11eb-9532-6cc21762b5e1/roslaunch-DESKTOP-HBDV97J-5759.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://DESKTOP-HBDV97J:64590/

SUMMARY

PARAMETERS

• /feature_tracker/config_file: /home/mindbeat/ca...
• /feature_tracker/vins_folder: /home/mindbeat/ca...
• /pose_graph/config_file: /home/mindbeat/ca...
• /pose_graph/skip_cnt: 0
• /pose_graph/skip_dis: 0.0
• /pose_graph/visualization_shift_x: 0
• /pose_graph/visualization_shift_y: 0
• /rosdistro: melodic
• /rosversion: 1.14.9
• /vins_estimator/config_file: /home/mindbeat/ca...
• /vins_estimator/vins_folder: /home/mindbeat/ca...

NODES / feature_tracker (feature_tracker/feature_tracker) pose_graph (pose_graph/pose_graph) vins_estimator (vins_estimator/vins_estimator)

auto-starting new master process[master]: started with pid [5769] ROS_MASTER_URI=http://localhost:11311

setting /run_id to 78fc1f5e-1dcb-11eb-9532-6cc21762b5e1 process[rosout-1]: started with pid [5780] started core service [/rosout] process[feature_tracker-2]: started with pid [5786] process[vins_estimator-3]: started with pid [5788] process[pose_graph-4]: started with pid [5789] [ INFO] [1604404533.602130900]: init begins [ INFO] [1604404533.656113900]: Loaded config_file: /home/mindbeat/catkin_ws/src/VINS-Mono/feature_tracker/../config/euroc/euroc_config.yaml result path /home/shaozu/output//vins_result_no_loop.csv /home/shaozu/output/ not exists, trying to create it /home/shaozu not exists, trying to create it Failed to create folder /home/shaozu [ INFO] [1604404533.693287700]: ROW: 480.000000 COL: 752.000000 [ WARN] [1604404533.694784300]: fix extrinsic param [ INFO] [1604404533.700555800]: Extrinsic_R : 0.0148655 -0.999881 0.0041403 0.999557 0.0149672 0.0257155 -0.0257744 0.00375619 0.999661 [ INFO] [1604404533.722156100]: Extrinsic_T : -0.0216401 -0.064677 0.00981073 [ INFO] [1604404533.728395500]: Synchronized sensors, fix time offset: 0 [ WARN] [1604404533.730781000]: waiting for image and imu... vocabulary_file/home/mindbeat/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_k10L6.bin loop start load vocabulary BRIEF_PATTERN_FILE/home/mindbeat/catkin_ws/src/VINS-Mono/pose_graph/../support_files/brief_pattern.yml /home/shaozu/output/pose_graph/ not exists, trying to create it /home/shaozu/output not exists, trying to create it /home/shaozu not exists, trying to create it Failed to create folder /home/shaozu /home/shaozu/output/ not exists, trying to create it /home/shaozu not exists, trying to create it Failed to create folder /home/shaozu no previous pose graph OpenCV Error: Assertion failed (0 <= _rowRange.start && _rowRange.start <= _rowRange.end && _rowRange.end <= m.rows) in Mat, file /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/matrix.cpp, line 483 terminate called after throwing an instance of 'cv::Exception' what(): /build/opencv-L2vuMj/opencv-3.2.0+dfsg/modules/core/src/matrix.cpp:483: error: (-215) 0 <= _rowRange.start && _rowRange.start <= _rowRange.end && _rowRange.end <= m.rows in function Mat

[feature_tracker-2] process has died [pid 5786, exit code -6, cmd /home/mindbeat/catkin_ws/devel/lib/feature_tracker/feature_tracker __name:=feature_tracker __log:=/home/mindbeat/.ros/log/78fc1f5e-1dcb-11eb-9532-6cc21762b5e1/feature_tracker-2.log]. log file: /home/mindbeat/.ros/log/78fc1f5e-1dcb-11eb-9532-6cc21762b5e1/feature_tracker-2*.log