Not enough points to initialize map. about sptam

[taihup]

Thanks for contribute ;)

…

On Wed, Apr 11, 2018 at 5:26 PM, jacky70010 ***@***.***> wrote: in my bag there was /image_raw_color/compressed /image_rect_color/compressed at first I do on /image_raw_color/compressed use image transport and then get rectify image. then I try directly do image transport on /image_rect_color/compressed (this is wrong about image transport could only do on raw images http://wiki.ros.org/image_transport ) then get /image_rect_color so I put it into sptam node directly — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#27 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AGVyUHvSN1DKYbjoekLg7KKVkd_U4iXdks5tni7OgaJpZM4S-YVS> .

[breyner-posso]

Hi! tks for your answers!
I'm using stereo_image_proc in order to publish undistorted and rectified stereo images.
I'm gonna try to slow down the bag file.
Tks! :)

[taihup]

your baseline is in wrong units. It should be something close to 0.12 (this is 12 cm)

…

On Wed, Mar 28, 2018 at 11:18 AM, jacky70010 ***@***.***> wrote: Hi, I am testing with my own bag (recorded by my zed camera) In "aligned_vector points " point size is always zero I have tried the MIT Stata Center dataset and it works fine by the way I am not using loop closure this is what I got ... logging to /home/jacky/.ros/log/19749ac4-3265-11e8-a708-0800275b2bd8/ roslaunch-jacky-VirtualBox-24302.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://jacky-VirtualBox:44671/ SUMMARY PARAMETERS - /imagetransport1/approximate_sync: True - /imagetransport1/queue_size: 1000 - /imagetransport2/approximate_sync: True - /imagetransport2/queue_size: 1000 - /rosdistro: kinetic - /rosversion: 1.12.7 - /sptam/BundleAdjustmentActiveKeyframes: 10 - /sptam/DescriptorExtractor/Name: BRIEF - /sptam/DescriptorExtractor/bytes: 32 - /sptam/DescriptorMatcher/Name: BruteForce-Hamming - /sptam/DescriptorMatcher/crossCheck: False - /sptam/EpipolarDistance: 0 - /sptam/FeatureDetector/Name: GFTT - /sptam/FeatureDetector/minDistance: 15.0 - /sptam/FeatureDetector/nfeatures: 1000 - /sptam/FeatureDetector/qualityLevel: 0.01 - /sptam/FeatureDetector/useHarrisDetector: False - /sptam/FrustumFarPlaneDist: 10000.0 - /sptam/FrustumNearPlaneDist: 0.1 - /sptam/LoopDetectorVocabulary: /home/jacky/catki... - /sptam/MatchingCellSize: 30 - /sptam/MatchingDistance: 25 - /sptam/MatchingNeighborhood: 2 - /sptam/approximate_sync: True - /sptam/base_frame: left_camera - /sptam/camera_frame: left_camera - /sptam/minimumTrackedPointsRatio: 0.9 - /sptam/publish_on_fail: True - /sptam/publish_transform: True - /sptam/queue_size: 1000 - /sptam/reference_frame: left_camera - /sptam/use_prediction: False - /stereo/stereo_image_proc/approximate_sync: True - /stereo/stereo_image_proc/queue_size: 1000 - /use_sim_time: True NODES /imagetransport2/ republish (image_transport/republish) /stereo/ stereo_image_proc (stereo_image_proc/stereo_image_proc) /imagetransport1/ republish (image_transport/republish) / camera_broadcaster (tf2_ros/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[imagetransport1/republish-1]: started with pid [24364] process[imagetransport2/republish-2]: started with pid [24365] process[stereo/stereo_image_proc-3]: started with pid [24367] process[camera_broadcaster-4]: started with pid [24383] process[sptam_path-5]: started with pid [24417] process[sptam-6]: started with pid [24462] [ INFO] [1522227799.398858325]: Initializing nodelet with 1 worker threads. crossCheck: 0 OpenCV: threads set to -1 nfeatures: 1000 qualityLevel: 0.01 minDistance: 15 blockSize: 3 useHarrisDetector: 0 k: 0.04 nfeatures: 1000 qualityLevel: 0.01 minDistance: 15 blockSize: 3 useHarrisDetector: 0 k: 0.04 bytes: 32 use_orientation: 0 bytes: 32 use_orientation: 0 [ INFO] [1522227802.802015569, 1514963975.211378596]: S-PTAM stereo node initialized. [ INFO] [1522227807.322240749, 1514963976.115933562]: init calib [ INFO] [1522227807.322738574, 1514963976.115933562]: baseline: 0.00012 [ INFO] [1522227807.812476321, 1514963976.212768105]: Trying to intialize map... [ WARN] [1522227808.031914579, 1514963976.257170983]: Not enough points to initialize map. https://screenshot.net/tw/nmqndu0 <http://url> — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub <#27>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AGVyUO4GPk7lJdy_TaTrbHIJ7EhwMNYlks5ti2OBgaJpZM4S-YVS> .

[jacky70010]

Thanks,
I checked my ZED camera the baseline is indeed 12cm
Sorry, I am new to camera. Do you know where I can change my baseline?
In the camera_info?

[taihup]

yes, you have to change that in the camera_info message.

…

On Wed, Mar 28, 2018 at 3:43 PM, jacky70010 ***@***.***> wrote: Thanks, I checked my ZED camera the baseline is indeed 12cm Sorry, I am new to camera. Do you know where I can change my baseline? In the camera_info? — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#27 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AGVyUK3-rcoHCX-dUhcGjm04OIxCPrT0ks5ti6GfgaJpZM4S-YVS> .

[jacky70010]

Thanks a lot.
I appreciate your reply!

[jacky70010]

Hi, I have fixed my baseline to 0.12 (which is the correct value)
but still couldn't get enough map points (I have checked the map points are between 0-3)
is there other problem that could lead to this issue

this is my camera info:
left_info
header:
seq: 30945
stamp:
secs: 1514963977
nsecs: 844533434
frame_id: zed_left_camera
height: 720
width: 1280
distortion_model: plumb_bob
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [673.9771118164062, 0.0, 646.008056640625, 0.0, 673.9771118164062, 387.2628173828125, 0.0, 0.0, 1.0]
R: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
P: [673.9771118164062, 0.0, 646.008056640625, 0.0, 0.0, 673.9771118164062, 387.2628173828125, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: False

---

right_info
header:
seq: 30800
stamp:
secs: 1514963975
nsecs: 334894665
frame_id: zed_left_camera
height: 720
width: 1280
distortion_model: plumb_bob
D: [0.0, 0.0, 0.0, 0.0, 0.0]
K: [673.9771118164062, 0.0, 646.008056640625, 0.0, 673.9771118164062, 387.2628173828125, 0.0, 0.0, 1.0]
R: [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0]
P: [673.9771118164062, 0.0, 646.008056640625, -80.87725937366486, 0.0, 673.9771118164062, 387.2628173828125, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: False

[taihup]

Hi, are the camera images rectified? try to use http://wiki.ros.org/stereo_image_proc node to rectify the images. S-PTAM works with rectified cameras.

[jacky70010]

yes the image are rectified
in my rosbag my image was sensor_msgs/CompressedImage
so I use image_transport to transport to sensor_msgs/Image
and then use the stereo_image_proc node
this is my launch file

zed.launch.txt

[taihup]

Try to follow this launch. I did for my ZED camera. In this case the ZED camera was used with the VGA resolution configuration.
zed_bag.launch.txt

[jacky70010]

Could you show me what is in the zed_vga.yaml file ?
same as in the kitti.yaml?

[taihup]

I changed some parameters. Try also changing the EpipolarDistance to 1 or 2.
zed_vga.yaml.txt

[jacky70010]

in my bag there is only
/image_raw_color/compressed
/image_rect_color/compressed
so I use image transport (which can only do on raw image)
to get /image_raw_color
then give /image_raw_color to stereo_image_proc
however the node wants /image_raw
Is this could be a problem?

or maybe I could just use /image_rect_color/compressed ?

[taihup]

I think your launch is correct. I think is not properly tabulated (I can't remember now if launch files should be properly tabulated to work fine). Try to modified the configuration file that you are using. Did you try changing the EpipolarDistance parameter?

If you are working with a rosbag, remember to run the parameter set use_sim_time true after roscore command in terminal. Also, you should public the clock with the rosbag, like the datasets examples. You can also change the rate of publication to make sure that all the images are processed properly.
Summarizing, you should do in terminal:

roscore &
rosparam set use_sim_time true
rosbag play --clock rosbagFile.bag -r 0.2

Another issue could be that your camera calibration is not so good. I am seeing your camera_info messages and they are not looking good because you do not have distortion parameters D and you do not have rectification rotation matrix R set. Moreover, the frame_id of right camera is wrong.

[jacky70010]

Finally I successfully initialize map but get error about covisibility keyframes
ERROR: There is not any covisibility keyframes observing the tracked points
which part should I look into?
thanks for all the help!!!

[ INFO] [1523461133.908802132, 1514963977.477140960]: S-PTAM stereo node initialized.
[ INFO] [1523461138.793225855, 1514963979.920527447]: init calib
[ INFO] [1523461138.793459726, 1514963979.920527447]: baseline: 0.12
[ INFO] [1523461139.237742439, 1514963980.139035384]: Trying to intialize map...
[ INFO] [1523461139.415248260, 1514963980.229501520]: mappoint: [73]
[ INFO] [1523461139.422501930, 1514963980.234898885]: Map initialized with 73 points.
[ WARN] [1523461140.421120513, 1514963980.733720627]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1523461142.983779618, 1514963982.015061306]: Not enough points for tracking.

[taihup]

What was the problem? If the camera is moving too fast, S-PTAM is going to lose the Localization. Try to leave the camera still and then move it slowly to check if that is the problem.

…

On Wed, 11 Apr 2018 16:49 jacky70010, ***@***.***> wrote: Finally I successfully initialize map but get error about covisibility keyframes ERROR: There is not any covisibility keyframes observing the tracked points which part should I look into? thanks for all the help!!! [ INFO] [1523461133.908802132, 1514963977.477140960]: S-PTAM stereo node initialized. [ INFO] [1523461138.793225855, 1514963979.920527447]: init calib [ INFO] [1523461138.793459726, 1514963979.920527447]: baseline: 0.12 [ INFO] [1523461139.237742439, 1514963980.139035384]: Trying to intialize map... [ INFO] [1523461139.415248260, 1514963980.229501520]: mappoint: [73] [ INFO] [1523461139.422501930, 1514963980.234898885]: Map initialized with 73 points. [ WARN] [1523461140.421120513, 1514963980.733720627]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points [ WARN] [1523461142.983779618, 1514963982.015061306]: Not enough points for tracking. — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#27 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AGVyUNAMBR-IIj6G23o38Z-MzmvfiIHAks5tniX8gaJpZM4S-YVS> .

[jacky70010]

this error repeats
[WARN] [1523461140.421120513, 1514963980.733720627]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points

I will leave the camera still and try again!

[taihup]

I am askiing about the error that do not let S-PTAM initialize the map. How do you solve it? because it could help to someone else.

…

On Wed, Apr 11, 2018 at 5:07 PM, jacky70010 ***@***.***> wrote: this error repeats [WARN] [1523461140.421120513, 1514963980.733720627]: Not enough points for tracking. ERROR: There is not any covisibility keyframes observing the tracked points I will leave the camera still and try again! — You are receiving this because you commented. Reply to this email directly, view it on GitHub <#27 (comment)>, or mute the thread <https://github.com/notifications/unsubscribe-auth/AGVyUBAB0zCGfVE_5E8hxb1vFr8hoJEaks5tnioogaJpZM4S-YVS> .

[jacky70010]

in my bag there was
/image_raw_color/compressed
/image_rect_color/compressed
at first I do on /image_raw_color/compressed use image transport and then get rectify image.

then I try directly do image transport on /image_rect_color/compressed
(this is wrong about image transport could only do on raw images
http://wiki.ros.org/image_transport )
then get /image_rect_color so I put it into sptam node directly
this is my final launch file!
zedlaunch.txt

[breyner-posso]

Hi, how do you solve this issue:

[WARN] [1523461140.421120513, 1514963980.733720627]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points

I'm getting something like that and no map is build.

Tks a lot for your advice.

[jacky70010]

Hi, are you trying the bag provided by the author or you are also working on zeds?

[jacky70010]

I saw your issue.
My problem was my calibration wasn't pretty good, you could try to link features to see if the feature matches.
Or you could slow down your ros bag.
Ex. rosbag play -r 0.2
By the way are you using stereo image proc? Or using the opencv way to calibrate.

[breyner-posso]

Hi, I'm using my own dataset. Actually I'm running SPTAM but I'm not getting any map.

acfr@acfr-protea:~/catkin_ws$ roslaunch sptam acfr.launch
... logging to /home/acfr/.ros/log/dfde1f4a-4c10-11e8-b53e-b8ca3a8203b2/roslaunch-acfr-protea-24929.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://acfr-protea:44241/

SUMMARY

PARAMETERS

• /rosdistro: kinetic
• /rosversion: 1.12.13
• /sptam/BundleAdjustmentActiveKeyframes: 10
• /sptam/DescriptorExtractor/Name: BRIEF
• /sptam/DescriptorExtractor/bytes: 32
• /sptam/DescriptorMatcher/Name: BruteForce-Hamming
• /sptam/DescriptorMatcher/crossCheck: False
• /sptam/EpipolarDistance: 0
• /sptam/FeatureDetector/Name: GFTT
• /sptam/FeatureDetector/minDistance: 15.0
• /sptam/FeatureDetector/nfeatures: 1000
• /sptam/FeatureDetector/qualityLevel: 0.01
• /sptam/FeatureDetector/useHarrisDetector: False
• /sptam/FrustumFarPlaneDist: 10000.0
• /sptam/FrustumNearPlaneDist: 0.1
• /sptam/LoopDetectorVocabulary: /home/acfr/catkin...
• /sptam/MatchingCellSize: 30
• /sptam/MatchingDistance: 25
• /sptam/MatchingNeighborhood: 2
• /sptam/approximate_sync: False
• /sptam/base_frame: left_camera
• /sptam/camera_frame: left_camera
• /sptam/minimumTrackedPointsRatio: 0.9
• /sptam/publish_on_fail: True
• /sptam/publish_transform: True
• /sptam/reference_frame: left_camera
• /sptam/use_prediction: False
• /use_sim_time: True

NODES
/stereo/
stereo_image_proc (stereo_image_proc/stereo_image_proc)
/
sptam (sptam/sptam_node)
sptam_path (ros_utils/pose_to_path)

ROS_MASTER_URI=http://localhost:11311

process[stereo/stereo_image_proc-1]: started with pid [24947]
process[sptam_path-2]: started with pid [24948]
process[sptam-3]: started with pid [24954]
[ INFO] [1525049625.405580944]: Initializing nodelet with 8 worker threads.
crossCheck: 0
OpenCV: threads set to -1
nfeatures: 1000
qualityLevel: 0.01
minDistance: 15
blockSize: 3
useHarrisDetector: 0
k: 0.04
nfeatures: 1000
qualityLevel: 0.01
minDistance: 15
blockSize: 3
useHarrisDetector: 0
k: 0.04
bytes: 32
use_orientation: 0
bytes: 32
use_orientation: 0
[ INFO] [1525049625.555098245]: Loop Detector initializing, loading vocabulary
[ INFO] [1525049634.039631096]: S-PTAM stereo node initialized.
[ INFO] [1525049637.860779009]: init calib
[ INFO] [1525049637.860956353]: baseline: 0.584967
[ INFO] [1525049638.101483523]: Map initialized with 45 points.
[ WARN] [1525049638.682994378]: Not enough points for tracking.
[ WARN] [1525049640.929131143]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049654.157759622]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049660.745917501]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049661.825162811]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049665.856239203]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049670.135123189]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049681.202346129]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049691.770648229]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049701.210938574]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049703.515873901]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049705.108644473]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049710.716088369]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049711.660556581]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049716.751190998]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049718.063519255]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049718.360129805]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049720.990454635]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049740.064274117]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049740.265883895]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049742.313579714]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049744.302966236]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049756.077361346]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049758.880483230]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049762.325829975]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049770.864540302]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049771.151525750]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049773.199360329]: Not enough points for tracking.
ERROR: There is not any covisibility keyframes observing the tracked points
[ WARN] [1525049773.898833449]: Not enough points for tracking.

Tks a lot for your advice.

[jacky70010]

Stereo image proc publishes point cloud
So you could use rviz to see that your rectification images are good or not!