[svo-1] process has died [pid 3794, exit code -6

[suntttabc]

Hi, I used ubantu 20 and ROS nietic to run the code, and the following problems occurred.

1. 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