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Tried with Microsoft HD5000 usb webcam but crashed at first frame #43

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zaixia2008 opened this issue Sep 1, 2014 · 3 comments
Closed

Tried with Microsoft HD5000 usb webcam but crashed at first frame #43

zaixia2008 opened this issue Sep 1, 2014 · 3 comments

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@zaixia2008
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Hello and sorry for my english.
I'm new to ROS.
For now I'm able to run SVO with ROS using the data bag file.
But I dont have a matrix-vision camera to test with live camera stream.
So will it work with a uvc usb webcam like HD5000 which I have now?
And what image format will it support ?
What else should I take care of ?
Thank you so much.
@zaixia2008
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I tried using a usb webcam like #27 .
But crashed at the first frame.
I can run data bag with no problem.
I'm using ubuntu12.04 ros-hydro on an AMD laptop.
Here is the gdb output.

SUMMARY
========

CLEAR PARAMETERS
 * /svo/

PARAMETERS
 * /camera/camera_frame_id
 * /camera/framerate
 * /camera/image_height
 * /camera/image_width
 * /camera/pixel_format
 * /camera/video_device
 * /rosdistro
 * /rosversion
 * /svo/cam_cx
 * /svo/cam_cy
 * /svo/cam_d0
 * /svo/cam_fx
 * /svo/cam_fy
 * /svo/cam_height
 * /svo/cam_model
 * /svo/cam_topic
 * /svo/cam_width
 * /svo/grid_size
 * /svo/loba_num_iter
 * /svo/max_n_kfs

NODES
  /camera/
    proc (image_proc/image_proc)
  /
    camera (usb_cam/usb_cam_node)
    svo (svo_ros/vo)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[camera-1]: started with pid [32443]
process[camera/proc-2]: started with pid [32453]
process[svo-3]: started with pid [32473]
GNU gdb (Ubuntu/Linaro 7.4-2012.04-0ubuntu2.1) 7.4-2012.04
Copyright (C) 2012 Free Software Foundation, Inc.
License GPLv3+: GNU GPL version 3 or later <http://gnu.org/licenses/gpl.html>
This is free software: you are free to change and redistribute it.
There is NO WARRANTY, to the extent permitted by law.  Type "show copying"
and "show warranty" for details.
This GDB was configured as "x86_64-linux-gnu".
For bug reporting instructions, please see:
<http://bugs.launchpad.net/gdb-linaro/>...
Reading symbols from /home/alen/catkin_ws/devel/lib/svo_ros/vo...(no debugging symbols found)...done.
Starting program: /home/alen/catkin_ws/devel/lib/svo_ros/vo __name:=svo __log:=/home/alen/.ros/log/ee14c58c-333c-11e4-996a-00e04c931c47/svo-3.log
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
warning: no loadable sections found in added symbol-file system-supplied DSO at 0x7ffff7ffa000
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ INFO] [1409735652.138950942]: Starting 'head_camera' (/dev/video0) at 800x600 via mmap (mjpeg) at 30 FPS
[ INFO] [1409735652.539998114]: using default calibration URL
[ INFO] [1409735652.540109180]: camera calibration URL: file:///home/alen/.ros/camera_info/head_camera.yaml
[ INFO] [1409735652.540223802]: Unable to open camera calibration file [/home/alen/.ros/camera_info/head_camera.yaml]
[ WARN] [1409735652.540270743]: Camera calibration file /home/alen/.ros/camera_info/head_camera.yaml not found.
[Thread debugging using libthread_db enabled]
Using host libthread_db library "/lib/x86_64-linux-gnu/libthread_db.so.1".
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[New Thread 0x7fffe369b700 (LWP 32766)]
[New Thread 0x7fffe2e9a700 (LWP 32767)]
[New Thread 0x7fffe2699700 (LWP 300)]
[New Thread 0x7fffe1e98700 (LWP 305)]
create vo_node
[ WARN] [1409735654.176118036]: Cannot find value for parameter: svo/publish_img_pyr_level, assigning default: 0
[ WARN] [1409735654.176942324]: Cannot find value for parameter: svo/publish_every_nth_img, assigning default: 1
[ WARN] [1409735654.177672263]: Cannot find value for parameter: svo/publish_every_nth_dense_input, assigning default: 1
[ WARN] [1409735654.179330345]: Cannot find value for parameter: svo/publish_world_in_cam_frame, assigning default: 1
[ WARN] [1409735654.180045376]: Cannot find value for parameter: svo/publish_map_every_frame, assigning default: 0
[ WARN] [1409735654.180750119]: Cannot find value for parameter: svo/publish_point_display_time, assigning default: 0
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[tcsetpgrp failed in terminal_inferior: Inappropriate ioctl for device]
[ WARN] [1409735654.615553117]: Cannot find value for parameter: svo/publish_markers, assigning default: 1
[ WARN] [1409735654.616532215]: Cannot find value for parameter: svo/publish_dense_input, assigning default: 0
[ WARN] [1409735654.617750550]: Cannot find value for parameter: svo/accept_console_user_input, assigning default: 1
[New Thread 0x7fffd3fff700 (LWP 372)]
[ INFO] [1409735654.625121103]: Found parameter: svo/cam_model, value: ATAN
[ INFO] [1409735654.626239801]: Found parameter: svo/cam_width, value: 800
[ INFO] [1409735654.627259912]: Found parameter: svo/cam_height, value: 600
[ INFO] [1409735654.628302681]: Found parameter: svo/cam_fx, value: 0.767616
[ INFO] [1409735654.629315789]: Found parameter: svo/cam_fy, value: 1.08319
[ INFO] [1409735654.631059988]: Found parameter: svo/cam_cx, value: 0.497194
[ INFO] [1409735654.632291087]: Found parameter: svo/cam_cy, value: 0.881709
[ INFO] [1409735654.633244873]: Found parameter: svo/cam_d0, value: 0.0679499
[ WARN] [1409735654.634540584]: Cannot find value for parameter: svo/init_tz, assigning default: 0
[ WARN] [1409735654.635765736]: Cannot find value for parameter: svo/init_ty, assigning default: 0
[ WARN] [1409735654.637043482]: Cannot find value for parameter: svo/init_tx, assigning default: 0
[ WARN] [1409735654.638122888]: Cannot find value for parameter: svo/init_rz, assigning default: 0
[ WARN] [1409735654.639188223]: Cannot find value for parameter: svo/init_ry, assigning default: 0
[ WARN] [1409735654.640256875]: Cannot find value for parameter: svo/init_rx, assigning default: 0
[ WARN] [1409735654.641611887]: Cannot find value for parameter: svo/trace_name, assigning default: svo
[ WARN] [1409735654.643254424]: Cannot find value for parameter: svo/trace_dir, assigning default: /tmp
[ WARN] [1409735654.644839256]: Cannot find value for parameter: svo/n_pyr_levels, assigning default: 3
[ WARN] [1409735654.645591385]: Cannot find value for parameter: svo/use_imu, assigning default: 0
[ WARN] [1409735654.646251542]: Cannot find value for parameter: svo/core_n_kfs, assigning default: 3
[ WARN] [1409735654.646916715]: Cannot find value for parameter: svo/map_scale, assigning default: 1
[ INFO] [1409735654.647608141]: Found parameter: svo/grid_size, value: 30
[ WARN] [1409735654.648465062]: Cannot find value for parameter: svo/init_min_disparity, assigning default: 50
[ WARN] [1409735654.649259335]: Cannot find value for parameter: svo/init_min_tracked, assigning default: 50
[ WARN] [1409735654.650114858]: Cannot find value for parameter: svo/init_min_inliers, assigning default: 40
[ WARN] [1409735654.650927713]: Cannot find value for parameter: svo/klt_max_level, assigning default: 4
[ WARN] [1409735654.651718387]: Cannot find value for parameter: svo/klt_min_level, assigning default: 2
[ WARN] [1409735654.652563051]: Cannot find value for parameter: svo/reproj_thresh, assigning default: 2
[ WARN] [1409735654.653381827]: Cannot find value for parameter: svo/poseoptim_thresh, assigning default: 2
[ WARN] [1409735654.654175893]: Cannot find value for parameter: svo/poseoptim_num_iter, assigning default: 10
[ WARN] [1409735654.654900565]: Cannot find value for parameter: svo/structureoptim_max_pts, assigning default: 20
[ WARN] [1409735654.655619723]: Cannot find value for parameter: svo/structureoptim_num_iter, assigning default: 5
[ WARN] [1409735654.656413328]: Cannot find value for parameter: svo/loba_thresh, assigning default: 2
[ WARN] [1409735654.657226069]: Cannot find value for parameter: svo/loba_robust_huber_width, assigning default: 1
[ INFO] [1409735654.657999555]: Found parameter: svo/loba_num_iter, value: 0
[ WARN] [1409735654.658801212]: Cannot find value for parameter: svo/kfselect_mindist, assigning default: 0.12
[ WARN] [1409735654.659653114]: Cannot find value for parameter: svo/triang_min_corner_score, assigning default: 20
[ WARN] [1409735654.660442866]: Cannot find value for parameter: svo/triang_half_patch_size, assigning default: 4
[ WARN] [1409735654.661231383]: Cannot find value for parameter: svo/subpix_n_iter, assigning default: 10
[ INFO] [1409735654.662029911]: Found parameter: svo/max_n_kfs, value: 10
[ WARN] [1409735654.662812493]: Cannot find value for parameter: svo/img_imu_delay, assigning default: 0
[ WARN] [1409735654.663594035]: Cannot find value for parameter: svo/max_fts, assigning default: 120
[ WARN] [1409735654.664460912]: Cannot find value for parameter: svo/quality_min_fts, assigning default: 50
[ WARN] [1409735654.665275051]: Cannot find value for parameter: svo/quality_max_drop_fts, assigning default: 40
[ INFO] [1409735654.665438386]: SVO initialized
[New Thread 0x7fffd37fe700 (LWP 416)]
[ INFO] [1409735654.667304190]: Found parameter: svo/cam_topic, value: /camera/image_mono
[ INFO] [1409735655.233512299]: RESET

Program received signal SIGILL, Illegal instruction.
0x00007ffff726038d in vk::halfSample(cv::Mat const&, cv::Mat&) ()
   from /home/alen/catkin_ws/devel/lib/libvikit_common.so
(gdb) bt
#0  0x00007ffff726038d in vk::halfSample(cv::Mat const&, cv::Mat&) ()
   from /home/alen/catkin_ws/devel/lib/libvikit_common.so
#1  0x00007ffff74d5a0f in svo::frame_utils::createImgPyramid (img_level_0=..., 
    n_levels=<optimized out>, pyr=...)
    at /home/alen/catkin_ws/src/rpg_svo/svo/src/frame.cpp:163
#2  0x00007ffff74d5d29 in svo::Frame::initFrame (this=<optimized out>, img=...)
    at /home/alen/catkin_ws/src/rpg_svo/svo/src/frame.cpp:58
#3  0x00007ffff74d5e5f in svo::Frame::Frame (this=0x64d1d0, 
    cam=<optimized out>, img=..., timestamp=<optimized out>)
    at /home/alen/catkin_ws/src/rpg_svo/svo/src/frame.cpp:40
#4  0x00007ffff74ceb18 in svo::FrameHandlerMono::addImage (this=0x839a60, 
    img=..., timestamp=1409735655.2103195)
    at /home/alen/catkin_ws/src/rpg_svo/svo/src/frame_handler_mono.cpp:69
#5  0x000000000040a971 in svo::VoNode::imgCb(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&) ()
#6  0x00007fffe07d5227 in image_transport::RawSubscriber::internalCallback(boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&, boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)> const&) () from /opt/ros/hydro/lib//libimage_transport_plugins.so
#7  0x00007ffff797380a in boost::detail::function::void_function_obj_invoker1<boost::function<void (boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> const&)>, void, boost::shared_ptr<sensor_msgs::Image_<std::allocator<void> > const> >::invoke(boost::detail::function::function_buffer&, boost::shared_p---Type <return> to continue, or q <return> to quit---[svo-3] killing on exit
[camera/proc-2] killing on exit
[camera-1] killing on exit

@zaixia2008 zaixia2008 changed the title Dose SVO work with usb webcam like Microsoft HD5000? Tried with Microsoft HD5000 usb webcam but crashed at first frame Sep 3, 2014
@cfo
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cfo commented Sep 3, 2014

I think your problem is similar to #42

@zaixia2008
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Yes and it works like a charm.
Thanks so much cfo and Yoshua.

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