laxnpander / openrealm_ros1_bridge Goto Github PK
View Code? Open in Web Editor NEWROS1 bridge for OpenREALM, a real-time aerial mapping framework
Home Page: https://github.com/laxnpander/OpenREALM
License: GNU General Public License v3.0
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aachen-drone-development-initiative danielhonies annesteenbeek zthorson ykhedar p-fj scially slamplus troyefun ahmad-drak monadical videosystemstech peakpang wdl2599 zhicongsunopenrealm_ros1_bridge's Issues
Request to Reconsider License
Hi @laxnpander,
I've been exploring your OpenREALM project, and I appreciate the incredible work you've put into it. I noticed that this package (OpenREALM_ROS1_Bridge) is still currently under the GPLv3 license, while most of OpenREALM became LGPL in 2021.
Given that the OpenREALM dependency no longer necessitates GPLv3, I was wondering if you'd be open to reassessing this project's license to something more permissive. This change could potentially increase the project's adoption and flexibility for integration into a wider array of applications.
Thank you for considering my request. I look forward to your thoughts.
eigen error
roslaunch realm_ros alexa_noreco.launch
[ INFO] [1650897631.450742228]: STAGE_NODE [mosaicing]: Received output directory, set to:
/home/kint/kint/slam/OpenREALM_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/22-04-25_22-40-30
2022-04-25 22:40:31.452 ( 1.197s) [ B590D280] loguru.h:2056 0| Logging to '/home/kint/kint/slam/OpenREALM_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/22-04-25_22-40-30/surface_generation/stage.log', mode: 'a', verbosity: 9
2022-04-25 22:40:31.452 ( 1.197s) [ B590D280] stage_base.cpp:42 0| Successfully initialized!
2022-04-25 22:40:31.452 ( 1.197s) [ B590D280] stage_base.cpp:43 0| Stage path set to: /home/kint/kint/slam/OpenREALM_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/22-04-25_22-40-30/surface_generation
2022-04-25 22:40:31.452 ( 1.197s) [ B590D280] surface_generation.cpp:165 0| ### Stage process settings ###
2022-04-25 22:40:31.452 ( 1.197s) [ B590D280] surface_generation.cpp:166 0| - try_use_elevation: 1
2022-04-25 22:40:31.452 ( 1.197s) [ B590D280] surface_generation.cpp:167 0| - compute_all_frames: 0
2022-04-25 22:40:31.452 ( 1.197s) [ B590D280] surface_generation.cpp:168 0| - mode_surface_normals: 0
2022-04-25 22:40:31.452 ( 1.197s) [ B590D280] surface_generation.cpp:170 0| ### Stage save settings ###
2022-04-25 22:40:31.452 ( 1.197s) [ B590D280] surface_generation.cpp:171 0| - save_elevation: 0
2022-04-25 22:40:31.452 ( 1.197s) [ B590D280] surface_generation.cpp:172 0| - save_normals: 0
[ INFO] [1650897631.452689613]: STAGE_NODE [surface_generation]: Received output directory, set to:
/home/kint/kint/slam/OpenREALM_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/22-04-25_22-40-30
2022-04-25 22:40:31.618 ( 1.363s) [Stage [pose_esti] pose_estimation.cpp:291 WARN| . No tracking.
2022-04-25 22:40:31.618 ( 1.363s) [Stage [pose_esti] pose_estimation.cpp:250 0| } 0.173 s: track
2022-04-25 22:40:31.618 ( 1.363s) [Stage [pose_esti] worker_thread_base.cpp:84 0| Timing [Total]: 173 ms
2022-04-25 22:40:31.656 ( 1.400s) [Publisher [pose_] pose_estimation.cpp:651 0| Publishing pose of frame #0...
[ INFO] [1650897631.701123859]: Image #1, image Path: /media/kint/E06A82386A820B8A/dataSet/open_realm_edm_dataset/edm_big_overlap_50p/img_0001.jpg
[ INFO] [1650897631.747389707]: STAGE_NODE [pose_estimation]: Received frame.
2022-04-25 22:40:31.772 ( 1.517s) [Stage [pose_esti] pose_estimation.cpp:482 0| Input frame buffer at 10.00%
2022-04-25 22:40:31.772 ( 1.517s) [Stage [pose_esti] pose_estimation.cpp:250 0| { track
2022-04-25 22:40:31.772 ( 1.517s) [Stage [pose_esti] pose_estimation.cpp:251 0| . Frame id: #1, timestamp: 1650897631724
E0425 22:40:31.851030 11228 stage_node_main.cpp:32] *** Aborted at 1650897631 (unix time) try "date -d @1650897631" if you are using GNU date ***
E0425 22:40:31.853869 11228 stage_node_main.cpp:32] PC: @ 0x7fe0d6487909 Eigen::JacobiSVD<>::compute()
E0425 22:40:31.855043 11228 stage_node_main.cpp:32] *** SIGSEGV (@0x0) received by PID 11041 (TID 0x7fe0abfff700) from PID 0; stack trace: ***
E0425 22:40:31.855990 11228 stage_node_main.cpp:32] @ 0x7fe0d881b980 (unknown)
E0425 22:40:31.856773 11228 stage_node_main.cpp:32] @ 0x7fe0d6487909 Eigen::JacobiSVD<>::compute()
E0425 22:40:31.857682 11228 stage_node_main.cpp:32] @ 0x7fe0d646e1c5 openvslam::solve::homography_solver::compute_H_21()
E0425 22:40:31.858563 11228 stage_node_main.cpp:32] @ 0x7fe0d646ee76 openvslam::solve::homography_solver::find_via_ransac()
E0425 22:40:31.859620 11228 stage_node_main.cpp:32] @ 0x7fe0d853d6df (unknown)
E0425 22:40:31.860323 11228 stage_node_main.cpp:32] @ 0x7fe0d88106db start_thread
E0425 22:40:31.861023 11228 stage_node_main.cpp:32] @ 0x7fe0d7f9861f clone
[ INFO] [1650897631.915386554]: Image #2, image Path: /media/kint/E06A82386A820B8A/dataSet/open_realm_edm_dataset/edm_big_overlap_50p/img_0002.jpg
[realm_pose_estimation-3] process has died [pid 11041, exit code -11, cmd /home/kint/kint/slam/OpenREALM_ws/devel/lib/realm_ros/realm_stage_node __name:=realm_pose_estimation __log:=/home/kint/.ros/log/a6ad470c-c4a5-11ec-9e17-58961d965e0b/realm_pose_estimation-3.log].
log file: /home/kint/.ros/log/a6ad470c-c4a5-11ec-9e17-58961d965e0b/realm_pose_estimation-3*.log
[ INFO] [1650897632.127010075]: Image #3, image Path: /media/kint/E06A82386A820B8A/dataSet/open_realm_edm_dataset/edm_big_overlap_50p/img_0003.jpg
Add orientation support for Exiv grabber
How to run for active ROS image topic instead of using image files?
I am trying to repurpose this node to run on a live ROS image topic (type: sensor_msgs/Image), so I assume I need to replace the exiv2_grabber_node with ros_grabber_node, but an example of how to do so would be helpful. I tried copying the exiv2 node launch and replacing it with ros node launch, resulting in the following launch file:
<launch>
<arg name="camera_id" default="downward_cam"/>
<arg name="topic_adapter" default="$(arg camera_id)/camera/image"/>
<arg name="topic_pose_est" default="/realm/$(arg camera_id)/pose_estimation/frame"/>
<arg name="topic_dense" default="/realm/$(arg camera_id)/densification/frame"/>
<arg name="topic_surf" default="/realm/$(arg camera_id)/surface_generation/frame"/>
<arg name="topic_rect" default="/realm/$(arg camera_id)/ortho_rectification/frame"/>
<arg name="topic_mosaic" default="/realm/$(arg camera_id)/mosaicing/frame"/>
<arg name="topic_out_frame" default="/realm/$(arg camera_id)/out/frame"/>
<node pkg="realm_ros" type="realm_ros_grabber" name="realm_ros_grabber" output="screen">
<param name="config/id" type="string" value="$(arg camera_id)"/>
<param name="config/input" type="string" value="$(arg topic_adapter)"/>
<param name="config/rate" type="double" value="10.0"/>
<param name="topic/out/frame" type="string" value="$(arg topic_out_frame)"/>
<param name="config/profile" type="string" value="alexa_gnss"/>
<!--param name="config/opt/poses" type="string" value=""/-->
<!--param name="config/opt/surface_pts" type="string" value=""/-->
<!--param name="config/opt/set_all_keyframes" type="bool" value="True"/-->
<!--param name="config/opt/working_directory" type="string" value="/home/alex/Documents/OpenREALM"/-->
</node>
<node pkg="realm_ros" type="realm_stage_node" name="realm_pose_estimation" output="screen">
<param name="stage/type" type="string" value="pose_estimation"/>
<param name="stage/master" type="bool" value="true"/>
<param name="topics/input/frame" type="string" value="$(arg topic_out_frame)"/>
<param name="topics/output" type="string" value="$(arg topic_pose_est)"/>
<param name="config/id" type="string" value="$(arg camera_id)"/>
<param name="config/profile" type="string" value="alexa_gnss"/>
<param name="config/method" type="string" value="open_vslam"/>
<!--param name="config/opt/working_directory" type="string" value="/home/alex/Documents/OpenREALM"/-->
<!--param name="config/opt/output_directory" type="string" value="/home/alex/Documents/output_test"/-->
</node>
<node pkg="realm_ros" type="realm_stage_node" name="realm_surface_generation" output="screen">
<param name="stage/type" type="string" value="surface_generation"/>
<param name="topics/input/frame" type="string" value="$(arg topic_out_frame)"/>
<param name="topics/output" type="string" value="$(arg topic_surf)"/>
<param name="config/id" type="string" value="$(arg camera_id)"/>
<param name="config/profile" type="string" value="alexa_gnss"/>
<!--param name="config/opt/working_directory" type="string" value="/home/alex/Documents/OpenREALM"/-->
<!--param name="config/opt/output_directory" type="string" value="/home/alex/Documents/output_test"/-->
</node>
<node pkg="realm_ros" type="realm_stage_node" name="realm_ortho_rectification" output="screen">
<param name="stage/type" type="string" value="ortho_rectification"/>
<param name="topics/input/frame" type="string" value="$(arg topic_surf)"/>
<param name="topics/output" type="string" value="$(arg topic_rect)"/>
<param name="config/id" type="string" value="$(arg camera_id)"/>
<param name="config/profile" type="string" value="alexa_gnss"/>
<!--param name="config/opt/working_directory" type="string" value="/home/alex/Documents/OpenREALM"/-->
<!--param name="config/opt/output_directory" type="string" value="/home/alex/Documents/output_test"/-->
</node>
<node pkg="realm_ros" type="realm_stage_node" name="realm_mosaicing" output="screen">
<param name="stage/type" type="string" value="mosaicing"/>
<param name="topics/input/frame" type="string" value="$(arg topic_rect)"/>
<param name="config/id" type="string" value="$(arg camera_id)"/>
<param name="config/profile" type="string" value="alexa_gnss"/>
<!--param name="config/opt/working_directory" type="string" value="/home/alex/Documents/OpenREALM"/-->
<!--param name="config/opt/output_directory" type="string" value="/home/alex/Documents/output"/-->
</node>
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find realm_ros)/rviz/realm.rviz" />
</launch>
However, the ros grabber node crashes. What do I need to change?
The pose_estimation stage node dies after launch
I am launching nodes in container. Here is the Dockerfile. The alexa_gnss.launch works fine, but the alexa_reco.launch does not work.
Search for "process has died" to find the error.
Search for "WARN" for lines that might be relevant.
root@869d082a3cc2:/catkin_ws# roslaunch realm_ros alexa_reco.launch
... logging to /root/.ros/log/2061d85e-1d24-11eb-abf4-0242ac110002/roslaunch-869d082a3cc2-30778.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://869d082a3cc2:37945/
SUMMARY
========
PARAMETERS
* /realm_densification/config/id: alexa
* /realm_densification/config/method: psl
* /realm_densification/config/profile: alexa_reco
* /realm_densification/stage/type: densification
* /realm_densification/topics/input: /realm/alexa/pose...
* /realm_densification/topics/output: /realm/alexa/dens...
* /realm_exiv2_grabber/config/id: alexa
* /realm_exiv2_grabber/config/input: /root/.ros/edm_bi...
* /realm_exiv2_grabber/config/profile: alexa_reco
* /realm_exiv2_grabber/config/rate: 10.0
* /realm_mosaicing/config/id: alexa
* /realm_mosaicing/config/profile: alexa_reco
* /realm_mosaicing/stage/type: mosaicing
* /realm_mosaicing/topics/input: /realm/alexa/orth...
* /realm_ortho_rectification/config/id: alexa
* /realm_ortho_rectification/config/profile: alexa_reco
* /realm_ortho_rectification/stage/type: ortho_rectification
* /realm_ortho_rectification/topics/input: /realm/alexa/surf...
* /realm_ortho_rectification/topics/output: /realm/alexa/orth...
* /realm_pose_estimation/config/id: alexa
* /realm_pose_estimation/config/method: open_vslam
* /realm_pose_estimation/config/profile: alexa_reco
* /realm_pose_estimation/stage/master: True
* /realm_pose_estimation/stage/type: pose_estimation
* /realm_pose_estimation/topics/input: /realm/alexa/input
* /realm_pose_estimation/topics/output: /realm/alexa/pose...
* /realm_surface_generation/config/id: alexa
* /realm_surface_generation/config/profile: alexa_reco
* /realm_surface_generation/stage/type: surface_generation
* /realm_surface_generation/topics/input: /realm/alexa/dens...
* /realm_surface_generation/topics/output: /realm/alexa/surf...
* /rosdistro: melodic
* /rosversion: 1.14.9
NODES
/
realm_densification (realm_ros/realm_stage_node)
realm_exiv2_grabber (realm_ros/realm_exiv2_grabber)
realm_mosaicing (realm_ros/realm_stage_node)
realm_ortho_rectification (realm_ros/realm_stage_node)
realm_pose_estimation (realm_ros/realm_stage_node)
realm_surface_generation (realm_ros/realm_stage_node)
rviz (rviz/rviz)
ROS_MASTER_URI=http://localhost:11311
process[realm_exiv2_grabber-1]: started with pid [30799]
[ INFO] [1604332952.443279983]: Exiv2 Grabber Node [Ankommen]: Successfully loaded camera:
cx = 610.324
cy = 516.917
fx = 1209.07
fy = 1210.66
k1 = -0.198806
k2 = 0.122544
p1 = -0.000221
p2 = -0.000877
[ INFO] [1604332952.453292166]: Scanning input image for provided meta tags...
[ INFO] [1604332952.453824013]: [FOUND] 'Exif.GPSInfo.GPSAltitude'
[ INFO] [1604332952.453857036]: [FOUND] 'Exif.GPSInfo.GPSLatitude'
[ INFO] [1604332952.453879143]: [FOUND] 'Exif.GPSInfo.GPSLongitude'
[ INFO] [1604332952.453890812]: [FOUND] 'Exif.Image.Model'
[ INFO] [1604332952.453904254]: [FOUND] 'Xmp.exif.REALM.Heading'
[ WARN] [1604332952.453916138]: [NOT FOUND] 'Xmp.exif.REALM.Timestamp'
[ INFO] [1604332952.453946273]: Image #0, image Path: /root/.ros/edm_big_overlap_50p/img_0000.jpg
[ INFO] [1604332952.554253817]: Image #1, image Path: /root/.ros/edm_big_overlap_50p/img_0001.jpg
[ INFO] [1604332952.654533056]: Image #2, image Path: /root/.ros/edm_big_overlap_50p/img_0002.jpg
[ INFO] [1604332952.754777442]: Image #3, image Path: /root/.ros/edm_big_overlap_50p/img_0003.jpg
process[realm_pose_estimation-2]: started with pid [30804]
[ INFO] [1604332952.855111432]: Image #4, image Path: /root/.ros/edm_big_overlap_50p/img_0004.jpg
[ INFO] [1604332952.955393235]: Image #5, image Path: /root/.ros/edm_big_overlap_50p/img_0005.jpg
[ INFO] [1604332953.020045715]: TEST: After Init
[ INFO] [1604332953.036411263]: STAGE_NODE [pose_estimation]: Loading stage settings from path:
/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_reco/pose_estimation/stage_settings.yaml
[ INFO] [1604332953.037701974]: STAGE_NODE [pose_estimation]: Detected stage type: 'pose_estimation'
[ INFO] [1604332953.044688798]: STAGE_NODE [pose_estimation]: : Loading camera from path:
/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_reco/camera/calib.yaml
[ INFO] [1604332953.044884818]: STAGE_NODE [pose_estimation]: : Detected camera model: 'pinhole'
[ INFO] [1604332953.044916119]: STAGE_NODE [pose_estimation]: : Loading vslam settings from path:
/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_reco/pose_estimation/method/open_vslam_settings.yaml
[ INFO] [1604332953.045059666]: STAGE_NODE [pose_estimation]: : Detected vslam type: 'OPEN_VSLAM'
[2020-11-02 20:02:33.045] [info] config file loaded:
___ __ _____ _ _ __ __
/ _ \ _ __ ___ _ _\ \ / / __| | /_\ | \/ |
| (_) | '_ \/ -_) ' \\ V /\__ \ |__ / _ \| |\/| |
\___/| .__/\___|_||_|\_/ |___/____/_/ \_\_| |_|
|_|
Copyright (C) 2019,
National Institute of Advanced Industrial Science and Technology (AIST)
All rights reserved.
This is free software,
and you are welcome to redistribute it under certain conditions.
See the LICENSE file.
Camera Configuration:
- name: cam
- setup: Monocular
- fps: 10
- cols: 1228
- rows: 1026
- color: RGB
- model: Perspective
- fx: 1209.07
- fy: 1210.66
- cx: 610.324
- cy: 516.917
- k1: -0.198806
- k2: 0.122544
- p1: -0.000221
- p2: -0.000877
- k3: 0
- min x: -43.8161
- max x: 1275.46
- min y: -39.0829
- max y: 1064.75
ORB Configuration:
- number of keypoints: 3000
- scale factor: 1.2
- number of levels: 8
- initial fast threshold: 15
- minimum fast threshold: 3
[2020-11-02 20:02:33.046] [info] loading ORB vocabulary: /catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_reco/pose_estimation/method/orb_slam2/ORBvoc.bin
[ INFO] [1604332953.055705584]: Image #6, image Path: /root/.ros/edm_big_overlap_50p/img_0006.jpg
[ INFO] [1604332953.156048564]: Image #7, image Path: /root/.ros/edm_big_overlap_50p/img_0007.jpg
[ INFO] [1604332953.256328185]: Image #8, image Path: /root/.ros/edm_big_overlap_50p/img_0008.jpg
[ INFO] [1604332953.356562369]: Image #9, image Path: /root/.ros/edm_big_overlap_50p/img_0009.jpg
process[realm_densification-3]: started with pid [30813]
[ INFO] [1604332953.457035002]: Image #10, image Path: /root/.ros/edm_big_overlap_50p/img_0010.jpg
[2020-11-02 20:02:33.473] [info] startup SLAM system
[2020-11-02 20:02:33.473] [info] start mapping module
[2020-11-02 20:02:33.473] [info] start global optimization module
2020-11-02 20:02:33.473 ( 0.462s) [ E86AA980] pose_estimation.cpp:90 0| Evaluating fallback strategy...
2020-11-02 20:02:33.473 ( 0.462s) [ E86AA980] pose_estimation.cpp:100 0| Selected: NEVER - Image projection will not be used.
2020-11-02 20:02:33.474 ( 0.463s) [Publisher [pose_] worker_thread_base.cpp:60 0| Thread 'Publisher [pose_estimation]' starting loop...
2020-11-02 20:02:33.481 ( 0.470s) [ E86AA980] loguru.h:2056 0| Logging to '/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/20-11-02_20-02-33/pose_estimation/stage.log', mode: 'a', verbosity: 9
2020-11-02 20:02:33.481 ( 0.470s) [ E86AA980] stage_base.cpp:56 0| Successfully initialized!
2020-11-02 20:02:33.481 ( 0.470s) [ E86AA980] stage_base.cpp:57 0| Stage path set to: /catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/20-11-02_20-02-33/pose_estimation
2020-11-02 20:02:33.481 ( 0.470s) [ E86AA980] pose_estimation.cpp:328 0| ### Stage process settings ###
2020-11-02 20:02:33.481 ( 0.470s) [ E86AA980] pose_estimation.cpp:329 0| - use_vslam: 1
2020-11-02 20:02:33.481 ( 0.470s) [ E86AA980] pose_estimation.cpp:330 0| - use_fallback: 0
2020-11-02 20:02:33.481 ( 0.470s) [ E86AA980] pose_estimation.cpp:331 0| - do_update_georef: 0
2020-11-02 20:02:33.481 ( 0.470s) [ E86AA980] pose_estimation.cpp:332 0| - do_suppress_outdated_pose_pub: 0
2020-11-02 20:02:33.481 ( 0.470s) [ E86AA980] pose_estimation.cpp:333 0| - th_error_georef: 1.00
2020-11-02 20:02:33.481 ( 0.470s) [ E86AA980] pose_estimation.cpp:334 0| - overlap_max: 100.00
2020-11-02 20:02:33.481 ( 0.470s) [ E86AA980] pose_estimation.cpp:335 0| - overlap_max_fallback: 95.00
2020-11-02 20:02:33.481 ( 0.470s) [ E86AA980] pose_estimation.cpp:337 0| ### Stage save settings ###
2020-11-02 20:02:33.481 ( 0.470s) [ E86AA980] pose_estimation.cpp:338 0| - save_trajectory_gnss: 1
2020-11-02 20:02:33.481 ( 0.470s) [ E86AA980] pose_estimation.cpp:339 0| - save_trajectory_visual: 1
2020-11-02 20:02:33.481 ( 0.470s) [ E86AA980] pose_estimation.cpp:340 0| - save_frames: 0
2020-11-02 20:02:33.481 ( 0.470s) [ E86AA980] pose_estimation.cpp:341 0| - save_keyframes: 0
2020-11-02 20:02:33.481 ( 0.470s) [ E86AA980] pose_estimation.cpp:342 0| - save_keyframes_full: 0
[ INFO] [1604332953.481753514]: STAGE_NODE [pose_estimation]: Started stage node successfully!
[ INFO] [1604332953.482365913]: STAGE_NODE [pose_estimation]: Received frame.
2020-11-02 20:02:33.484 ( 0.474s) [Stage [pose_esti] worker_thread_base.cpp:60 0| Thread 'Stage [pose_estimation]' starting loop...
[ INFO] [1604332953.557294982]: Image #11, image Path: /root/.ros/edm_big_overlap_50p/img_0011.jpg
[ INFO] [1604332953.558975578]: STAGE_NODE [pose_estimation]: Frame reference set at: 52.400864, 10.227503
[ INFO] [1604332953.559291821]: STAGE_NODE [pose_estimation]: Received frame.
2020-11-02 20:02:33.574 ( 0.563s) [Publisher [pose_] loguru.h:2056 0| Logging to '/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/20-11-02_20-02-33/pose_estimation/publisher.log', mode: 'a', verbosity: 9
2020-11-02 20:02:33.574 ( 0.563s) [Publisher [pose_] pose_estimation.cpp:522 0| Successfully initialized pose_estimation publisher!
2020-11-02 20:02:33.585 ( 0.574s) [Stage [pose_esti] pose_estimation.cpp:153 0| Processing frame #8 with timestamp 1604332953280991828!
2020-11-02 20:02:33.585 ( 0.574s) [Stage [pose_esti] pose_estimation.cpp:213 0| Tracking frame #8 in visual SLAM...!
[ INFO] [1604332953.629321297]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332953.648782549]: TEST: After Init
[ INFO] [1604332953.657560898]: Image #12, image Path: /root/.ros/edm_big_overlap_50p/img_0012.jpg
[ INFO] [1604332953.672537956]: STAGE_NODE [densification]: Loading stage settings from path:
/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_reco/densification/stage_settings.yaml
[ INFO] [1604332953.674004289]: STAGE_NODE [densification]: Detected stage type: 'densification'
[ INFO] [1604332953.697614082]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332953.718300833]: STAGE_NODE [densification]: : Loading camera from path:
/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_reco/camera/calib.yaml
[ INFO] [1604332953.718508466]: STAGE_NODE [densification]: : Detected camera model: 'pinhole'
[ INFO] [1604332953.718536614]: STAGE_NODE [densification]: : Loading densifier settings from path:
/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_reco/densification/method/psl_settings.yaml
[ INFO] [1604332953.718672667]: STAGE_NODE [densification]: : Detected densifier type: 'PSL'
<Param>[subpx_interp_mode]: 1
<Param>[enable_subpix]: 1
<Param>[n_cams]: 9
<Param>[enable_out_uniq_ratio]: 0
<Param>[scale]: 1
<Param>[enable_out_best_depth]: 0
<Param>[type]: PSL
<Param>[match_window_size_x]: 30
<Param>[resizing]: 0.35
<Param>[enable_out_best_cost]: 0
<Param>[enable_out_cost_vol]: 0
<Param>[match_window_size_y]: 30
<Param>[enable_color_match]: 1
<Param>[nrof_planes]: 32
<Param>[occlusion_mode]: 1
<Param>[plane_gen_mode]: 1
<Param>[match_cost]: 0
[ INFO] [1604332953.723237866]: STAGE_NODE [densification]: Started stage node successfully!
2020-11-02 20:02:33.736 ( 0.100s) [Stage [densifica] worker_thread_base.cpp:60 0| Thread 'Stage [densification]' starting loop...
[ INFO] [1604332953.757841095]: Image #13, image Path: /root/.ros/edm_big_overlap_50p/img_0013.jpg
[ INFO] [1604332953.762890051]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332953.820347948]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332953.858200780]: Image #14, image Path: /root/.ros/edm_big_overlap_50p/img_0014.jpg
2020-11-02 20:02:33.895 ( 0.258s) [ 3C789980] loguru.h:2056 0| Logging to '/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/20-11-02_20-02-33/densification/stage.log', mode: 'a', verbosity: 9
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] stage_base.cpp:56 0| Successfully initialized!
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] stage_base.cpp:57 0| Stage path set to: /catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/20-11-02_20-02-33/densification
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] densification.cpp:375 0| ### Stage process settings ###
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] densification.cpp:376 0| - use_filter_bilat: 1
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] densification.cpp:377 0| - use_filter_guided: 0
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] densification.cpp:378 0| - compute_normals: 1
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] densification.cpp:380 0| ### Stage save settings ###
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] densification.cpp:381 0| - save_bilat: 0
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] densification.cpp:382 0| - save_dense: 1
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] densification.cpp:383 0| - save_guided: 0
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] densification.cpp:384 0| - save_imgs: 0
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] densification.cpp:385 0| - save_normals: 1
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] densification.cpp:386 0| - save_sparse: 0
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] densification.cpp:387 0| - save_thumb: 0
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] plane_sweep.cpp:188 0| ### PlaneSweep settings ###
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] plane_sweep.cpp:189 0| - nframes: 9
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] plane_sweep.cpp:190 0| - enable_subpix: 1
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] plane_sweep.cpp:191 0| - enable_color_match: 1
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] plane_sweep.cpp:192 0| - enable_out_best_depth: 0
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] plane_sweep.cpp:193 0| - enable_out_best_cost: 0
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] plane_sweep.cpp:194 0| - enable_out_cost_vol: 0
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] plane_sweep.cpp:195 0| - enable_out_uniq_ratio: 0
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] plane_sweep.cpp:196 0| - nrof_planes: 32
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] plane_sweep.cpp:197 0| - scale: 1.00
2020-11-02 20:02:33.895 ( 0.259s) [ 3C789980] plane_sweep.cpp:198 0| - match_window_size_width: 30
2020-11-02 20:02:33.896 ( 0.259s) [ 3C789980] plane_sweep.cpp:199 0| - match_window_size_height: 30
2020-11-02 20:02:33.896 ( 0.259s) [ 3C789980] plane_sweep.cpp:200 0| - occlusion_mode: 1
2020-11-02 20:02:33.896 ( 0.259s) [ 3C789980] plane_sweep.cpp:201 0| - plane_gen_mode: 1
2020-11-02 20:02:33.896 ( 0.259s) [ 3C789980] plane_sweep.cpp:202 0| - match_cost: 0
2020-11-02 20:02:33.896 ( 0.259s) [ 3C789980] plane_sweep.cpp:203 0| - subpx_interp_mode: 1
[ INFO] [1604332953.896107744]: STAGE_NODE [densification]: Received output directory, set to:
/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/20-11-02_20-02-33
2020-11-02 20:02:33.898 ( 0.887s) [Stage [pose_esti] pose_estimation.cpp:239 WARN| No tracking.
2020-11-02 20:02:33.901 ( 0.890s) [Stage [pose_esti] pose_estimation.cpp:158 0| Timing [Tracking]: 316 ms
2020-11-02 20:02:33.901 ( 0.891s) [Stage [pose_esti] worker_thread_base.cpp:93 0| Timing [Total]: 316 ms
[ INFO] [1604332953.918351454]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332953.958546619]: Image #15, image Path: /root/.ros/edm_big_overlap_50p/img_0015.jpg
2020-11-02 20:02:33.974 ( 0.964s) [Publisher [pose_] pose_estimation.cpp:575 0| Publishing pose of frame #8...
2020-11-02 20:02:34.002 ( 0.991s) [Stage [pose_esti] pose_estimation.cpp:153 0| Processing frame #10 with timestamp 1604332953481626168!
2020-11-02 20:02:34.002 ( 0.991s) [Stage [pose_esti] pose_estimation.cpp:213 0| Tracking frame #10 in visual SLAM...!
[ INFO] [1604332954.005758819]: STAGE_NODE [pose_estimation]: Received frame.
process[realm_surface_generation-4]: started with pid [30824]
[ INFO] [1604332954.059542299]: Image #16, image Path: /root/.ros/edm_big_overlap_50p/img_0016.jpg
[ INFO] [1604332954.121520805]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332954.161142601]: Image #17, image Path: /root/.ros/edm_big_overlap_50p/img_0017.jpg
2020-11-02 20:02:34.198 ( 1.187s) [Stage [pose_esti] pose_estimation.cpp:239 WARN| No tracking.
2020-11-02 20:02:34.199 ( 1.188s) [Stage [pose_esti] pose_estimation.cpp:158 0| Timing [Tracking]: 197 ms
2020-11-02 20:02:34.199 ( 1.188s) [Stage [pose_esti] worker_thread_base.cpp:93 0| Timing [Total]: 197 ms
[ INFO] [1604332954.226229999]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332954.261399936]: Image #18, image Path: /root/.ros/edm_big_overlap_50p/img_0018.jpg
2020-11-02 20:02:34.276 ( 1.265s) [Publisher [pose_] pose_estimation.cpp:575 0| Publishing pose of frame #10...
[ INFO] [1604332954.290410701]: TEST: After Init
2020-11-02 20:02:34.299 ( 1.288s) [Stage [pose_esti] pose_estimation.cpp:153 0| Processing frame #13 with timestamp 1604332953781395473!
2020-11-02 20:02:34.299 ( 1.288s) [Stage [pose_esti] pose_estimation.cpp:213 0| Tracking frame #13 in visual SLAM...!
[ INFO] [1604332954.315307846]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332954.329170205]: STAGE_NODE [surface_generation]: Loading stage settings from path:
/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_reco/surface_generation/stage_settings.yaml
[ INFO] [1604332954.330848031]: STAGE_NODE [surface_generation]: Detected stage type: 'surface_generation'
[ INFO] [1604332954.363293315]: Image #19, image Path: /root/.ros/edm_big_overlap_50p/img_0019.jpg
[ INFO] [1604332954.379228249]: STAGE_NODE [surface_generation]: : Loading camera from path:
/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_reco/camera/calib.yaml
[ INFO] [1604332954.379414320]: STAGE_NODE [surface_generation]: : Detected camera model: 'pinhole'
[ INFO] [1604332954.381134374]: STAGE_NODE [surface_generation]: Started stage node successfully!
2020-11-02 20:02:34.396 ( 0.118s) [Stage [surface_g] worker_thread_base.cpp:60 0| Thread 'Stage [surface_generation]' starting loop...
[ INFO] [1604332954.434010842]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332954.463619860]: Image #20, image Path: /root/.ros/edm_big_overlap_50p/img_0020.jpg
2020-11-02 20:02:34.511 ( 0.233s) [ A1397980] loguru.h:2056 0| Logging to '/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/20-11-02_20-02-33/surface_generation/stage.log', mode: 'a', verbosity: 9
2020-11-02 20:02:34.511 ( 0.233s) [ A1397980] stage_base.cpp:56 0| Successfully initialized!
2020-11-02 20:02:34.512 ( 0.233s) [ A1397980] stage_base.cpp:57 0| Stage path set to: /catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/20-11-02_20-02-33/surface_generation
2020-11-02 20:02:34.512 ( 0.233s) [ A1397980] surface_generation.cpp:160 0| ### Stage process settings ###
2020-11-02 20:02:34.512 ( 0.233s) [ A1397980] surface_generation.cpp:161 0| - try_use_elevation: 1
2020-11-02 20:02:34.512 ( 0.233s) [ A1397980] surface_generation.cpp:162 0| - mode_surface_normals: 0
2020-11-02 20:02:34.512 ( 0.233s) [ A1397980] surface_generation.cpp:164 0| ### Stage save settings ###
2020-11-02 20:02:34.512 ( 0.233s) [ A1397980] surface_generation.cpp:165 0| - save_valid: 0
2020-11-02 20:02:34.512 ( 0.233s) [ A1397980] surface_generation.cpp:166 0| - save_elevation: 0
2020-11-02 20:02:34.512 ( 0.233s) [ A1397980] surface_generation.cpp:167 0| - save_normals: 0
[ INFO] [1604332954.512353711]: STAGE_NODE [surface_generation]: Received output directory, set to:
/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/20-11-02_20-02-33
[ INFO] [1604332954.525317916]: STAGE_NODE [pose_estimation]: Received frame.
2020-11-02 20:02:34.527 ( 1.516s) [Stage [pose_esti] pose_estimation.cpp:239 WARN| No tracking.
2020-11-02 20:02:34.529 ( 1.518s) [Stage [pose_esti] pose_estimation.cpp:158 0| Timing [Tracking]: 230 ms
2020-11-02 20:02:34.529 ( 1.518s) [Stage [pose_esti] worker_thread_base.cpp:93 0| Timing [Total]: 230 ms
[ INFO] [1604332954.563834611]: Image #21, image Path: /root/.ros/edm_big_overlap_50p/img_0021.jpg
2020-11-02 20:02:34.602 ( 1.591s) [Publisher [pose_] pose_estimation.cpp:575 0| Publishing pose of frame #13...
[ INFO] [1604332954.617241299]: STAGE_NODE [pose_estimation]: Received frame.
2020-11-02 20:02:34.629 ( 1.618s) [Stage [pose_esti] pose_estimation.cpp:153 0| Processing frame #16 with timestamp 1604332954085167023!
2020-11-02 20:02:34.629 ( 1.618s) [Stage [pose_esti] pose_estimation.cpp:213 0| Tracking frame #16 in visual SLAM...!
process[realm_ortho_rectification-5]: started with pid [30848]
[ INFO] [1604332954.669930996]: Image #22, image Path: /root/.ros/edm_big_overlap_50p/img_0022.jpg
[ INFO] [1604332954.723795517]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332954.770507763]: Image #23, image Path: /root/.ros/edm_big_overlap_50p/img_0023.jpg
2020-11-02 20:02:34.807 ( 1.797s) [Stage [pose_esti] pose_estimation.cpp:239 WARN| No tracking.
2020-11-02 20:02:34.808 ( 1.797s) [Stage [pose_esti] pose_estimation.cpp:158 0| Timing [Tracking]: 179 ms
2020-11-02 20:02:34.808 ( 1.797s) [Stage [pose_esti] worker_thread_base.cpp:93 0| Timing [Total]: 179 ms
[ INFO] [1604332954.824770977]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332954.870876692]: Image #24, image Path: /root/.ros/edm_big_overlap_50p/img_0024.jpg
2020-11-02 20:02:34.902 ( 1.891s) [Publisher [pose_] pose_estimation.cpp:575 0| Publishing pose of frame #16...
2020-11-02 20:02:34.908 ( 1.898s) [Stage [pose_esti] pose_estimation.cpp:153 0| Processing frame #19 with timestamp 1604332954402064625!
2020-11-02 20:02:34.908 ( 1.898s) [Stage [pose_esti] pose_estimation.cpp:213 0| Tracking frame #19 in visual SLAM...!
[ INFO] [1604332954.938419437]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332954.938434996]: TEST: After Init
[ INFO] [1604332954.965740206]: STAGE_NODE [ortho_rectification]: Loading stage settings from path:
/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_reco/ortho_rectification/stage_settings.yaml
[ INFO] [1604332954.967880628]: STAGE_NODE [ortho_rectification]: Detected stage type: 'ortho_rectification'
[ INFO] [1604332954.971312259]: Image #25, image Path: /root/.ros/edm_big_overlap_50p/img_0025.jpg
[ INFO] [1604332955.010532505]: STAGE_NODE [ortho_rectification]: : Loading camera from path:
/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_reco/camera/calib.yaml
[ INFO] [1604332955.010737975]: STAGE_NODE [ortho_rectification]: : Detected camera model: 'pinhole'
Stage [ortho_rectification]: Created Stage with Settings:
<Param>[save_elevation]: 0
<Param>[save_ortho_gtiff]: 0
<Param>[save_elevation_angle]: 0
<Param>[type]: ortho_rectification
<Param>[save_ortho_rgb]: 0
<Param>[publish_pointcloud]: 0
<Param>[queue_size]: 5
<Param>[path_output]:
<Param>[GSD]: 0.1
<Param>[save_valid]: 0
[ INFO] [1604332955.015226932]: STAGE_NODE [ortho_rectification]: Started stage node successfully!
2020-11-02 20:02:35.024 ( 0.095s) [Stage [ortho_rec] worker_thread_base.cpp:60 0| Thread 'Stage [ortho_rectification]' starting loop...
[ INFO] [1604332955.029610400]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332955.071649741]: Image #26, image Path: /root/.ros/edm_big_overlap_50p/img_0026.jpg
2020-11-02 20:02:35.114 ( 2.103s) [Stage [pose_esti] pose_estimation.cpp:239 WARN| No tracking.
2020-11-02 20:02:35.115 ( 2.104s) [Stage [pose_esti] pose_estimation.cpp:158 0| Timing [Tracking]: 207 ms
2020-11-02 20:02:35.115 ( 2.104s) [Stage [pose_esti] worker_thread_base.cpp:93 0| Timing [Total]: 207 ms
[ INFO] [1604332955.137872615]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332955.171944611]: Image #27, image Path: /root/.ros/edm_big_overlap_50p/img_0027.jpg
2020-11-02 20:02:35.205 ( 0.276s) [ 2E207980] loguru.h:2056 0| Logging to '/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/20-11-02_20-02-33/ortho_rectification/stage.log', mode: 'a', verbosity: 9
2020-11-02 20:02:35.205 ( 0.276s) [ 2E207980] stage_base.cpp:56 0| Successfully initialized!
2020-11-02 20:02:35.205 ( 0.276s) [ 2E207980] stage_base.cpp:57 0| Stage path set to: /catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/20-11-02_20-02-33/ortho_rectification
2020-11-02 20:02:35.205 ( 0.276s) [ 2E207980]ortho_rectification.cpp:200 0| ### Stage process settings ###
2020-11-02 20:02:35.205 ( 0.276s) [ 2E207980]ortho_rectification.cpp:201 0| - GSD: 0.10
2020-11-02 20:02:35.205 ( 0.276s) [ 2E207980]ortho_rectification.cpp:202 0| - publish_pointcloud: 0
2020-11-02 20:02:35.205 ( 0.276s) [ 2E207980]ortho_rectification.cpp:204 0| ### Stage save settings ###
2020-11-02 20:02:35.205 ( 0.276s) [ 2E207980]ortho_rectification.cpp:205 0| - save_valid: 0
2020-11-02 20:02:35.205 ( 0.276s) [ 2E207980]ortho_rectification.cpp:206 0| - save_ortho_rgb: 0
2020-11-02 20:02:35.205 ( 0.276s) [ 2E207980]ortho_rectification.cpp:207 0| - save_ortho_gtiff: 0
2020-11-02 20:02:35.205 ( 0.276s) [ 2E207980]ortho_rectification.cpp:208 0| - save_elevation: 0
2020-11-02 20:02:35.205 ( 0.276s) [ 2E207980]ortho_rectification.cpp:209 0| - save_elevation_angle: 0
[ INFO] [1604332955.205914018]: STAGE_NODE [ortho_rectification]: Received output directory, set to:
/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/20-11-02_20-02-33
2020-11-02 20:02:35.207 ( 2.196s) [Publisher [pose_] pose_estimation.cpp:575 0| Publishing pose of frame #19...
[ INFO] [1604332955.213049120]: STAGE_NODE [pose_estimation]: Received frame.
2020-11-02 20:02:35.215 ( 2.204s) [Stage [pose_esti] pose_estimation.cpp:153 0| Processing frame #22 with timestamp 1604332954695441251!
2020-11-02 20:02:35.215 ( 2.204s) [Stage [pose_esti] pose_estimation.cpp:213 0| Tracking frame #22 in visual SLAM...!
[ INFO] [1604332955.272224615]: Image #28, image Path: /root/.ros/edm_big_overlap_50p/img_0028.jpg
process[realm_mosaicing-6]: started with pid [30859]
[ INFO] [1604332955.330028480]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332955.372640682]: Image #29, image Path: /root/.ros/edm_big_overlap_50p/img_0029.jpg
2020-11-02 20:02:35.386 ( 2.375s) [Stage [pose_esti] pose_estimation.cpp:239 WARN| No tracking.
2020-11-02 20:02:35.386 ( 2.375s) [Stage [pose_esti] pose_estimation.cpp:158 0| Timing [Tracking]: 171 ms
2020-11-02 20:02:35.386 ( 2.375s) [Stage [pose_esti] worker_thread_base.cpp:93 0| Timing [Total]: 171 ms
2020-11-02 20:02:35.407 ( 2.396s) [Publisher [pose_] pose_estimation.cpp:575 0| Publishing pose of frame #22...
[ INFO] [1604332955.475226143]: STAGE_NODE [pose_estimation]: Received frame.
2020-11-02 20:02:35.486 ( 2.475s) [Stage [pose_esti] pose_estimation.cpp:153 0| Processing frame #24 with timestamp 1604332954897444605!
2020-11-02 20:02:35.487 ( 2.476s) [Stage [pose_esti] pose_estimation.cpp:213 0| Tracking frame #24 in visual SLAM...!
[ INFO] [1604332955.494291777]: Image #30, image Path: /root/.ros/edm_big_overlap_50p/img_0030.jpg
[ INFO] [1604332955.589424333]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332955.598620367]: TEST: After Init
[ INFO] [1604332955.599642245]: Image #31, image Path: /root/.ros/edm_big_overlap_50p/img_0031.jpg
[ INFO] [1604332955.623701427]: STAGE_NODE [mosaicing]: Loading stage settings from path:
/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_reco/mosaicing/stage_settings.yaml
[ INFO] [1604332955.625047399]: STAGE_NODE [mosaicing]: Detected stage type: 'mosaicing'
[ INFO] [1604332955.643954408]: STAGE_NODE [mosaicing]: : Loading camera from path:
/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/profiles/alexa_reco/camera/calib.yaml
[ INFO] [1604332955.644135674]: STAGE_NODE [mosaicing]: : Detected camera model: 'pinhole'
Stage [mosaicing]: Created Stage with Settings:
<Param>[save_num_obs_all]: 0
<Param>[save_num_obs_one]: 1
<Param>[save_elevation_mesh_one]: 0
<Param>[save_elevation_obs_angle_all]: 0
<Param>[save_elevation_obs_angle_one]: 1
<Param>[save_elevation_var_all]: 0
<Param>[save_elevation_var_one]: 0
<Param>[th_elevation_variance]: 1
<Param>[th_elevation_min_nobs]: 2
<Param>[save_elevation_all]: 0
<Param>[path_output]:
<Param>[save_dense_ply]: 1
<Param>[queue_size]: 5
<Param>[publish_mesh_every_nth_kf]: 0
<Param>[save_ortho_rgb_one]: 1
<Param>[type]: mosaicing
<Param>[publish_mesh_at_finish]: 1
<Param>[save_ortho_gtiff_one]: 1
<Param>[split_gtiff_channels]: 0
<Param>[save_elevation_one]: 1
<Param>[save_ortho_gtiff_all]: 0
<Param>[downsample_publish_mesh]: 0.5
<Param>[save_valid]: 0
<Param>[save_ortho_rgb_all]: 0
[ INFO] [1604332955.652534489]: STAGE_NODE [mosaicing]: Started stage node successfully!
2020-11-02 20:02:35.660 ( 0.073s) [Stage [mosaicing] worker_thread_base.cpp:60 0| Thread 'Stage [mosaicing]' starting loop...
2020-11-02 20:02:35.665 ( 2.654s) [Stage [pose_esti] pose_estimation.cpp:239 WARN| No tracking.
2020-11-02 20:02:35.666 ( 2.655s) [Stage [pose_esti] pose_estimation.cpp:158 0| Timing [Tracking]: 180 ms
2020-11-02 20:02:35.666 ( 2.655s) [Stage [pose_esti] worker_thread_base.cpp:93 0| Timing [Total]: 180 ms
[ INFO] [1604332955.687784115]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332955.706954247]: Image #32, image Path: /root/.ros/edm_big_overlap_50p/img_0032.jpg
2020-11-02 20:02:35.708 ( 2.697s) [Publisher [pose_] pose_estimation.cpp:575 0| Publishing pose of frame #24...
2020-11-02 20:02:35.766 ( 2.755s) [Stage [pose_esti] pose_estimation.cpp:153 0| Processing frame #27 with timestamp 1604332955191858117!
2020-11-02 20:02:35.766 ( 2.755s) [Stage [pose_esti] pose_estimation.cpp:213 0| Tracking frame #27 in visual SLAM...!
[ INFO] [1604332955.776372249]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332955.807881720]: Image #33, image Path: /root/.ros/edm_big_overlap_50p/img_0033.jpg
2020-11-02 20:02:35.843 ( 0.255s) [ 749DA980] loguru.h:2056 0| Logging to '/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/20-11-02_20-02-33/mosaicing/stage.log', mode: 'a', verbosity: 9
2020-11-02 20:02:35.843 ( 0.255s) [ 749DA980] stage_base.cpp:56 0| Successfully initialized!
2020-11-02 20:02:35.843 ( 0.255s) [ 749DA980] stage_base.cpp:57 0| Stage path set to: /catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/20-11-02_20-02-33/mosaicing
2020-11-02 20:02:35.843 ( 0.255s) [ 749DA980] mosaicing.cpp:460 0| ### Stage process settings ###
2020-11-02 20:02:35.843 ( 0.256s) [ 749DA980] mosaicing.cpp:461 0| - publish_mesh_nth_iter: 0
2020-11-02 20:02:35.843 ( 0.256s) [ 749DA980] mosaicing.cpp:462 0| - publish_mesh_every_nth_kf: 0
2020-11-02 20:02:35.843 ( 0.256s) [ 749DA980] mosaicing.cpp:463 0| - do_publish_mesh_at_finish: 1
2020-11-02 20:02:35.843 ( 0.256s) [ 749DA980] mosaicing.cpp:464 0| - downsample_publish_mesh: 0.50
2020-11-02 20:02:35.843 ( 0.256s) [ 749DA980] mosaicing.cpp:465 0| - use_surface_normals: 1
2020-11-02 20:02:35.843 ( 0.256s) [ 749DA980] mosaicing.cpp:466 0| - th_elevation_min_nobs: 2
2020-11-02 20:02:35.843 ( 0.256s) [ 749DA980] mosaicing.cpp:467 0| - th_elevation_var: 1.00
2020-11-02 20:02:35.844 ( 0.256s) [ 749DA980] mosaicing.cpp:469 0| ### Stage save settings ###
2020-11-02 20:02:35.844 ( 0.256s) [ 749DA980] mosaicing.cpp:470 0| - save_valid: 0
2020-11-02 20:02:35.844 ( 0.256s) [ 749DA980] mosaicing.cpp:471 0| - save_ortho_rgb_one: 1
2020-11-02 20:02:35.844 ( 0.256s) [ 749DA980] mosaicing.cpp:472 0| - save_ortho_rgb_all: 0
2020-11-02 20:02:35.844 ( 0.256s) [ 749DA980] mosaicing.cpp:473 0| - save_ortho_gtiff_one: 1
2020-11-02 20:02:35.844 ( 0.256s) [ 749DA980] mosaicing.cpp:474 0| - save_ortho_gtiff_all: 0
2020-11-02 20:02:35.844 ( 0.256s) [ 749DA980] mosaicing.cpp:475 0| - save_elevation_one: 1
2020-11-02 20:02:35.844 ( 0.256s) [ 749DA980] mosaicing.cpp:476 0| - save_elevation_all: 0
2020-11-02 20:02:35.844 ( 0.256s) [ 749DA980] mosaicing.cpp:477 0| - save_elevation_var_one: 0
2020-11-02 20:02:35.844 ( 0.256s) [ 749DA980] mosaicing.cpp:478 0| - save_elevation_var_all: 0
2020-11-02 20:02:35.844 ( 0.256s) [ 749DA980] mosaicing.cpp:479 0| - save_elevation_obs_angle_one: 1
2020-11-02 20:02:35.844 ( 0.256s) [ 749DA980] mosaicing.cpp:480 0| - save_elevation_obs_angle_all: 0
2020-11-02 20:02:35.844 ( 0.256s) [ 749DA980] mosaicing.cpp:481 0| - save_elevation_mesh_one: 0
2020-11-02 20:02:35.844 ( 0.256s) [ 749DA980] mosaicing.cpp:482 0| - save_num_obs_one: 1
2020-11-02 20:02:35.844 ( 0.256s) [ 749DA980] mosaicing.cpp:483 0| - save_num_obs_all: 0
2020-11-02 20:02:35.844 ( 0.256s) [ 749DA980] mosaicing.cpp:484 0| - save_dense_ply: 1
[ INFO] [1604332955.844529172]: STAGE_NODE [mosaicing]: Received output directory, set to:
/catkin_ws/src/OpenREALM_ROS1_Bridge/realm_ros/output/20-11-02_20-02-33
[ INFO] [1604332955.865398974]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332955.908201414]: Image #34, image Path: /root/.ros/edm_big_overlap_50p/img_0034.jpg
2020-11-02 20:02:35.941 ( 2.931s) [Stage [pose_esti] pose_estimation.cpp:239 WARN| No tracking.
2020-11-02 20:02:35.942 ( 2.931s) [Stage [pose_esti] pose_estimation.cpp:158 0| Timing [Tracking]: 176 ms
2020-11-02 20:02:35.942 ( 2.931s) [Stage [pose_esti] worker_thread_base.cpp:93 0| Timing [Total]: 176 ms
process[rviz-7]: started with pid [30871]
[ INFO] [1604332955.975612854]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332956.008441670]: Image #35, image Path: /root/.ros/edm_big_overlap_50p/img_0035.jpg
2020-11-02 20:02:36.008 ( 2.998s) [Publisher [pose_] pose_estimation.cpp:575 0| Publishing pose of frame #27...
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
2020-11-02 20:02:36.042 ( 3.032s) [Stage [pose_esti] pose_estimation.cpp:153 0| Processing frame #30 with timestamp 1604332955534505635!
2020-11-02 20:02:36.043 ( 3.032s) [Stage [pose_esti] pose_estimation.cpp:213 0| Tracking frame #30 in visual SLAM...!
[ INFO] [1604332956.072374509]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332956.108828975]: Image #36, image Path: /root/.ros/edm_big_overlap_50p/img_0036.jpg
libGL error: MESA-LOADER: failed to retrieve device information
libGL error: Version 4 or later of flush extension not found
libGL error: failed to load driver: i915
libGL error: failed to open /dev/dri/card0: No such file or directory
libGL error: failed to load driver: iris
[ INFO] [1604332956.171536904]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332956.209246269]: Image #37, image Path: /root/.ros/edm_big_overlap_50p/img_0037.jpg
2020-11-02 20:02:36.222 ( 3.211s) [Stage [pose_esti] pose_estimation.cpp:239 WARN| No tracking.
2020-11-02 20:02:36.223 ( 3.212s) [Stage [pose_esti] pose_estimation.cpp:158 0| Timing [Tracking]: 180 ms
2020-11-02 20:02:36.223 ( 3.212s) [Stage [pose_esti] worker_thread_base.cpp:93 0| Timing [Total]: 181 ms
libGL error: MESA-LOADER: failed to retrieve device information
libGL error: Version 4 or later of flush extension not found
libGL error: failed to load driver: i915
libGL error: failed to open /dev/dri/card0: No such file or directory
libGL error: failed to load driver: iris
[ INFO] [1604332956.271744339]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332956.309495846]: Image #38, image Path: /root/.ros/edm_big_overlap_50p/img_0038.jpg
2020-11-02 20:02:36.310 ( 3.299s) [Publisher [pose_] pose_estimation.cpp:575 0| Publishing pose of frame #30...
2020-11-02 20:02:36.323 ( 3.312s) [Stage [pose_esti] pose_estimation.cpp:153 0| Processing frame #32 with timestamp 1604332955747304858!
2020-11-02 20:02:36.323 ( 3.312s) [Stage [pose_esti] pose_estimation.cpp:213 0| Tracking frame #32 in visual SLAM...!
[ INFO] [1604332956.352734130]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332956.409724941]: Image #39, image Path: /root/.ros/edm_big_overlap_50p/img_0039.jpg
[ INFO] [1604332956.448364350]: STAGE_NODE [pose_estimation]: Received frame.
[ INFO] [1604332956.509961351]: Image #40, image Path: /root/.ros/edm_big_overlap_50p/img_0040.jpg
[ INFO] [1604332956.610999682]: Image #41, image Path: /root/.ros/edm_big_overlap_50p/img_0041.jpg
[ INFO] [1604332956.711300873]: Image #42, image Path: /root/.ros/edm_big_overlap_50p/img_0042.jpg
[realm_pose_estimation-2] process has died [pid 30804, exit code -11, cmd /catkin_ws/devel/lib/realm_ros/realm_stage_node __name:=realm_pose_estimation __log:=/root/.ros/log/2061d85e-1d24-11eb-abf4-0242ac110002/realm_pose_estimation-2.log].
log file: /root/.ros/log/2061d85e-1d24-11eb-abf4-0242ac110002/realm_pose_estimation-2*.log
[ INFO] [1604332956.811616089]: Image #43, image Path: /root/.ros/edm_big_overlap_50p/img_0043.jpg
[ INFO] [1604332956.912060717]: Image #44, image Path: /root/.ros/edm_big_overlap_50p/img_0044.jpg
[ INFO] [1604332957.012378998]: Image #45, image Path: /root/.ros/edm_big_overlap_50p/img_0045.jpg
[ INFO] [1604332957.113060184]: Image #46, image Path: /root/.ros/edm_big_overlap_50p/img_0046.jpg
[ INFO] [1604332957.214137110]: Image #47, image Path: /root/.ros/edm_big_overlap_50p/img_0047.jpg
[ INFO] [1604332957.314396107]: Image #48, image Path: /root/.ros/edm_big_overlap_50p/img_0048.jpg
[ INFO] [1604332957.414682139]: Image #49, image Path: /root/.ros/edm_big_overlap_50p/img_0049.jpg
[ INFO] [1604332957.515098994]: Image #50, image Path: /root/.ros/edm_big_overlap_50p/img_0050.jpg
[ INFO] [1604332957.615410755]: Image #51, image Path: /root/.ros/edm_big_overlap_50p/img_0051.jpg
[ INFO] [1604332957.715656059]: Image #52, image Path: /root/.ros/edm_big_overlap_50p/img_0052.jpg
[ INFO] [1604332957.816473047]: Image #53, image Path: /root/.ros/edm_big_overlap_50p/img_0053.jpg
[ INFO] [1604332957.927496511]: Image #54, image Path: /root/.ros/edm_big_overlap_50p/img_0054.jpg
[ INFO] [1604332958.028921641]: Image #55, image Path: /root/.ros/edm_big_overlap_50p/img_0055.jpg
[ INFO] [1604332958.145595853]: Image #56, image Path: /root/.ros/edm_big_overlap_50p/img_0056.jpg
[ INFO] [1604332958.245893014]: Image #57, image Path: /root/.ros/edm_big_overlap_50p/img_0057.jpg
[ INFO] [1604332958.346382156]: Image #58, image Path: /root/.ros/edm_big_overlap_50p/img_0058.jpg
[ INFO] [1604332958.446780618]: Image #59, image Path: /root/.ros/edm_big_overlap_50p/img_0059.jpg
[ INFO] [1604332958.547069702]: Image #60, image Path: /root/.ros/edm_big_overlap_50p/img_0060.jpg
[ INFO] [1604332958.647426240]: Image #61, image Path: /root/.ros/edm_big_overlap_50p/img_0061.jpg
[ INFO] [1604332958.747671686]: Image #62, image Path: /root/.ros/edm_big_overlap_50p/img_0062.jpg
[ INFO] [1604332958.847951757]: Image #63, image Path: /root/.ros/edm_big_overlap_50p/img_0063.jpg
[ INFO] [1604332958.948254134]: Image #64, image Path: /root/.ros/edm_big_overlap_50p/img_0064.jpg
[ INFO] [1604332959.048926095]: Image #65, image Path: /root/.ros/edm_big_overlap_50p/img_0065.jpg
[ INFO] [1604332959.163182226]: Image #66, image Path: /root/.ros/edm_big_overlap_50p/img_0066.jpg
[ INFO] [1604332959.263490341]: Image #67, image Path: /root/.ros/edm_big_overlap_50p/img_0067.jpg
[ INFO] [1604332959.364191239]: Image #68, image Path: /root/.ros/edm_big_overlap_50p/img_0068.jpg
[ INFO] [1604332959.512487509]: Image #69, image Path: /root/.ros/edm_big_overlap_50p/img_0069.jpg
[ INFO] [1604332959.613142763]: Image #70, image Path: /root/.ros/edm_big_overlap_50p/img_0070.jpg
[ INFO] [1604332959.713348493]: Image #71, image Path: /root/.ros/edm_big_overlap_50p/img_0071.jpg
^C[rviz-7] killing on exit
[realm_ortho_rectification-5] killing on exit
[realm_mosaicing-6] killing on exit
[realm_surface_generation-4] killing on exit
[realm_densification-3] killing on exit
[realm_exiv2_grabber-1] killing on exit
2020-11-02 20:02:39.826 ( 6.190s) [ 3C789980] worker_thread_base.cpp:126 0| Thread 'Stage [densification]' received finish request...
2020-11-02 20:02:39.832 ( 4.244s) [ 749DA980] worker_thread_base.cpp:126 0| Thread 'Stage [mosaicing]' received finish request...
2020-11-02 20:02:39.869 ( 6.232s) [Stage [densifica] worker_thread_base.cpp:98 0| Thread 'Stage [densification]' finished!
2020-11-02 20:02:39.961 ( 5.682s) [ A1397980] worker_thread_base.cpp:126 0| Thread 'Stage [surface_generation]' received finish request...
2020-11-02 20:02:40.001 ( 5.722s) [Stage [surface_g] worker_thread_base.cpp:98 0| Thread 'Stage [surface_generation]' finished!
2020-11-02 20:02:40.025 ( 5.096s) [ 2E207980] worker_thread_base.cpp:126 0| Thread 'Stage [ortho_rectification]' received finish request...
2020-11-02 20:02:40.038 ( 5.109s) [Stage [ortho_rec] worker_thread_base.cpp:98 0| Thread 'Stage [ortho_rectification]' finished!
shutting down processing monitor...
... shutting down processing monitor complete
done
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