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Error when running the example: visp_tracker tutorial.launch #118

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RodrigoFBernardo opened this issue Feb 4, 2022 · 0 comments
Open

Error when running the example: visp_tracker tutorial.launch #118

RodrigoFBernardo opened this issue Feb 4, 2022 · 0 comments

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@RodrigoFBernardo
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I have been getting some errors when running the visp examples in ROS, such as:

euroage@euroage:~$ roslaunch visp_tracker tutorial.launch
... logging to /home/euroage/.ros/log/7af559a0-85ae-11ec-9501-e0d55e204096/roslaunch-euroage-13991.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://192.168.1.101:34311/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.12
 * /tf_localization/object_translation_qw: 0.87906866
 * /tf_localization/object_translation_qx: 0.04655744
 * /tf_localization/object_translation_qy: -0.12974845
 * /tf_localization/object_translation_qz: -0.45632887
 * /tf_localization/object_translation_x: 1.84421063
 * /tf_localization/object_translation_y: -0.00836844
 * /tf_localization/object_translation_z: 0.52310595
 * /tracker_mbt/camera_prefix: /wide_left/camera
 * /tracker_mbt/tracker_type: mbt+klt
 * /tracker_mbt_client/frame_size: 0.2
 * /tracker_mbt_client/mask_size: 3
 * /tracker_mbt_client/model_name: laas-box
 * /tracker_mbt_client/model_path: package://visp_tr...
 * /tracker_mbt_client/mu1: 0.5
 * /tracker_mbt_client/mu2: 0.5
 * /tracker_mbt_client/n_mask: 180
 * /tracker_mbt_client/ntotal_sample: 800
 * /tracker_mbt_client/range: 10
 * /tracker_mbt_client/sample_step: 3.0
 * /tracker_mbt_client/threshold: 2000.0
 * /tracker_mbt_client/tracker_type: mbt+klt
 * /tracker_mbt_viewer/frame_size: 0.2
 * /tracker_mbt_viewer/tracker_name: tracker_mbt
 * /use_sim_time: False

NODES
  /
    base_link_to_camera (tf/static_transform_publisher)
    rosbag (rosbag/play)
    tf_localization (visp_tracker/tf_localization.py)
    tracker_mbt (visp_tracker/tracker)
    tracker_mbt_client (visp_tracker/visp_tracker_client)
    tracker_mbt_viewer (visp_tracker/visp_tracker_viewer)

ROS_MASTER_URI=http://192.168.1.100:11311/

process[rosbag-1]: started with pid [14000]
process[tracker_mbt-2]: started with pid [14001]
process[tracker_mbt_client-3]: started with pid [14002]
process[tracker_mbt_viewer-4]: started with pid [14003]
process[base_link_to_camera-5]: started with pid [14004]
process[tf_localization-6]: started with pid [14005]
[ WARN] [1643975665.199299534]: Reconfigure callback failed with exception model not initialized: 
[tracker_mbt_client-3] process has died [pid 14002, exit code -11, cmd /home/euroage/catkin_ws/devel/lib/visp_tracker/visp_tracker_client __name:=tracker_mbt_client __log:=/home/euroage/.ros/log/7af559a0-85ae-11ec-9501-e0d55e204096/tracker_mbt_client-3.log].
log file: /home/euroage/.ros/log/7af559a0-85ae-11ec-9501-e0d55e204096/tracker_mbt_client-3*.log
[ WARN] [1643975666.810052070]: Messages of type 1 arrived out of order (will print only once)
[ WARN] [1643975666.810143612]: Messages of type 0 arrived out of order (will print only once)

euroage@euroage:~/catkin_ws$ roslaunch visp_auto_tracker tutorial.launch
... logging to /home/euroage/.ros/log/7af559a0-85ae-11ec-9501-e0d55e204096/roslaunch-euroage-13814.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://192.168.1.101:33311/

SUMMARY
========

PARAMETERS
 * /rosdistro: melodic
 * /rosversion: 1.14.12
 * /visp_auto_tracker/debug_display: True
 * /visp_auto_tracker/model_name: pattern
 * /visp_auto_tracker/model_path: /home/euroage/cat...

NODES
  /
    play (rosbag/play)
    visp_auto_tracker (visp_auto_tracker/visp_auto_tracker)

ROS_MASTER_URI=http://192.168.1.100:11311/

process[play-1]: started with pid [13823]
process[visp_auto_tracker-2]: started with pid [13824]
[ INFO] [1643975626.404791678]: model full path=/home/euroage/catkin_ws/src/vision_visp/visp_auto_tracker/models/pattern
[ INFO] [1643975626.423594786]: Model content=#VRML V2.0 utf8

DEF fst_0 Group {
children [

# Object "cube"
Shape {

geometry DEF cube IndexedFaceSet {

coord Coordinate { 
point [
-0.0765  -0.0765	0.000
 0.0765  -0.0765	0.000
 0.0765  0.0765	0.000
-0.0765  0.0765	0.000
-0.03825  -0.03825	0.000	
 0.03825  -0.03825	0.000
 0.03825  0.03825	0.000
-0.03825  0.03825  	0.000 
 ]
}

coordIndex [
 0,1,2,3,-1,
 4,5,6,7,-1,
]}
}


]
}

starting tracker
 *********** Parsing XML for ME projection error ************ 
projection_error : sample_step : 10 (default)
projection_error : kernel_size : 5x5 (default)
 *********** Parsing XML for Edge Klt Model-Based Tracker ************ 
ecm : mask : size : 5
ecm : mask : nb_mask : 180
ecm : range : tracking : 10
ecm : contrast : threshold 5000
ecm : contrast : mu1 0.5
ecm : contrast : mu2 0.5
ecm : sample : sample_step : 10 (default)
[DEPRECATED] sample : sample_step : 4
  WARNING : This node (sample) is deprecated.
  It should be moved in the ecm node (ecm : sample).
klt : Mask Border : 0
klt : Max Features : 10000
klt : Windows Size : 5
klt : Quality : 0.05
klt : Min Distance : 20
klt : Harris Parameter : 0.01
klt : Block Size : 3
klt : Pyramid Levels : 3
face : Angle Appear : 75
face : Angle Disappear : 75
camera : u0 : 192 (default)
camera : v0 : 144 (default)
camera : px : 600 (default)
camera : py : 600 (default)
lod : use lod : 0 (default)
lod : min line length threshold : 50 (default)
lod : min polygon area threshold : 2500 (default)
 *********** Parsing XML for ME projection error ************ 
projection_error : sample_step : 10 (default)
projection_error : kernel_size : 5x5 (default)
 *********** Parsing XML for Edge Klt Model-Based Tracker ************ 
ecm : mask : size : 5
ecm : mask : nb_mask : 180
ecm : range : tracking : 10
ecm : contrast : threshold 5000
ecm : contrast : mu1 0.5
ecm : contrast : mu2 0.5
ecm : sample : sample_step : 4 (default)
[DEPRECATED] sample : sample_step : 4
  WARNING : This node (sample) is deprecated.
  It should be moved in the ecm node (ecm : sample).
klt : Mask Border : 0
klt : Max Features : 10000
klt : Windows Size : 5
klt : Quality : 0.05
klt : Min Distance : 20
klt : Harris Parameter : 0.01
klt : Block Size : 3
klt : Pyramid Levels : 3
face : Angle Appear : 75
face : Angle Disappear : 75
camera : u0 : 192 (default)
camera : v0 : 144 (default)
camera : px : 600 (default)
camera : py : 600 (default)
lod : use lod : 0 (default)
lod : min line length threshold : 50 (default)
lod : min polygon area threshold : 2500 (default)
[ INFO] [1643975629.567326474]: detection Camera parameters: 
Camera parameters for perspective projection without distortion:
  px = 861.187	 py = 859.316
  u0 = 321.233	 v0 = 206.491

[visp_auto_tracker-2] process has died [pid 13824, exit code -11, cmd /home/euroage/catkin_ws/devel/lib/visp_auto_tracker/visp_auto_tracker /visp_auto_tracker/camera_info:=/camera/camera_info /visp_auto_tracker/image_raw:=/camera/image_raw __name:=visp_auto_tracker __log:=/home/euroage/.ros/log/7af559a0-85ae-11ec-9501-e0d55e204096/visp_auto_tracker-2.log].
log file: /home/euroage/.ros/log/7af559a0-85ae-11ec-9501-e0d55e204096/visp_auto_tracker-2*.log
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@RodrigoFBernardo