SPtam crashing during runtime about sptam

[taihup]

As you say, S-PTAM can not crate an initial map. This could be caused by a wrong camera calibration, or the scene does not have enough features. Try to recalibrate the camera with http://wiki.ros.org/camera_calibration/Tutorials/StereoCalibration or with http://www.vision.caltech.edu/bouguetj/calib_doc/.

On the other hand, take care that you are copping the image in the launch file as level7.launch file. Try to crop the image propperly or not cropping it at all.

Let me know, if this helps?

Taihú

[siddyyagno3]

Thank you for your reply.

We have calibrated the cameras and are currently not cropping. S-PTAM is working and we can see the point clouds in RVIZ. We have another couple problems as a follow up.

1. When we set _use_odometry to "true" by running in launchfile as well as by using the command:
   
   rosrun sptam sptam_node _approximate_sync:=true _use_odometry:=true
   
   the topics
   
   /S_PTAM/point_cloud

/S_PTAM/robot/pose
   

NODES
  /stereo/
    stereo_image_proc (stereo_image_proc/stereo_image_proc)
  /
    camera_broadcaster (tf/static_transform_publisher)
    sptam (sptam/sptam_node)
    sptam_path (ros_utils/pose_to_path)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[camera_broadcaster-1]: started with pid [20084]
ERROR: cannot launch node of type [ros_utils/pose_to_path]: ros_utils
ROS path [0]=/opt/ros/indigo/share/ros
ROS path [1]=/home/sidd/catkin_ws/src
ROS path [2]=/opt/ros/indigo/share
ROS path [3]=/opt/ros/indigo/stacks
process[stereo/stereo_image_proc-3]: started with pid [20085]
process[sptam-4]: started with pid [20086]
[ INFO] [1459782485.377107995]: S-PTAM node running...
detector: GFTT
  minDistance: 15
  nfeatures: 1000
  qualityLevel: 0.01
  useHarrisDetector: 0
extractor: BRIEF
matcher: BruteForce-Hamming
  crossCheck: 0
[ INFO] [1459782485.791753899]: sptam node initialized
[ INFO] [1459782487.473742022]: dt: 0
[ WARN] [1459782487.574682077]: Failed to retrieve camera pose in odom frame
[ INFO] [1459782487.575199268]: dt: 0
[ WARN] [1459782487.676182246]: Failed to retrieve camera pose in odom frame
[ INFO] [1459782487.676580956]: dt: 0
[ WARN] [1459782487.777517507]: Failed to retrieve camera pose in odom frame
[ INFO] [1459782487.777988269]: dt: 0

do not publish anything.
It works when set to false.

1. Is there any way to access odometry data to visualize on rviz? Through some topic that can be published or some other method? Or have you created a rviz config file which you can share with us?
2. In the cam.yaml file is there any parameters we can vary such as the
   
   data: [ 718.856, 0, 607.1928, 0, 718.856, 185.2157, 0, 0, 1 ]
   
   parameter or camera matrix for better running?

Thanks again.

[taihup]

Hi siddyyagno3, are you running the S-PTAM in a robot (or dataset) which provides odometry ROS messages? If not, you can not set true the use_odometry flag.

1. I think you can subscribe to odometry messages with RVIZ without problem.
2. What cam.yaml are you talking about? Looks you are talking about camara calibration parameters (intrinsic matrix K). However, this parameters are provided by cameraInfo ROS messages to S-PTAM.

Best!

[siddyyagno3]

Sorry for losing track of this issue.
Got it working thanks to taihup .
After reinstalling and bit of luck I realized that installation of g2o ROS package was wrong and had to install the recommended one: svn co https://svn.openslam.org/data/svn/g2o .
And the distance between camera for good output in indoor environment was above 10cm.
Implemented it on our bot it was working and used it follow a predefined path.
We are working towards using this odometry package combined with path following to drive any general bot and publish it on git.