cd ~/svo_ws/
source ./devel/setup.bash
roslaunch svo_ros intel_aero.launch
SUMMARY
========
CLEAR PARAMETERS
* /svo/
PARAMETERS
* /rosdistro: kinetic
* /rosversion: 1.12.14
* /svo/T_world_imuinit/qw: 1
* /svo/T_world_imuinit/qx: 0
* /svo/T_world_imuinit/qy: 0
* /svo/T_world_imuinit/qz: 0
* /svo/calib_file: /home/fanjiaojiao...
* /svo/cam0_topic: /camera/mono/imag...
* /svo/depth_filter_affine_est_gain: True
* /svo/depth_filter_affine_est_offset: True
* /svo/detector_threshold_primary: 10
* /svo/detector_threshold_secondary: 200
* /svo/grid_size: 35
* /svo/img_align_est_illumination_gain: True
* /svo/img_align_est_illumination_offset: True
* /svo/img_align_max_level: 4
* /svo/img_align_min_level: 2
* /svo/img_align_prior_lambda_rot: 0.0
* /svo/img_align_prior_lambda_trans: 0.0
* /svo/imu_topic: /mavros/imu/data
* /svo/init_min_disparity: 30
* /svo/kfselect_criterion: FORWARD
* /svo/kfselect_min_angle: 6
* /svo/kfselect_min_disparity: 40
* /svo/kfselect_min_dist_metric: 0.001
* /svo/kfselect_numkfs_lower_thresh: 70
* /svo/kfselect_numkfs_upper_thresh: 180
* /svo/map_scale: 1.5
* /svo/max_depth_inv: 0.05
* /svo/max_fts: 180
* /svo/max_n_kfs: 30
* /svo/mean_depth_inv: 0.3
* /svo/min_depth_inv: 1.0
* /svo/n_pyr_levels: 3
* /svo/pipeline_is_stereo: False
* /svo/poseoptim_prior_lambda: 0.0
* /svo/poseoptim_thresh: 2.0
* /svo/poseoptim_using_unit_sphere: False
* /svo/publish_every_nth_dense_input: 5
* /svo/publish_marker_scale: 0.5
* /svo/quality_max_drop_fts: 80
* /svo/quality_min_fts: 40
* /svo/reprojector_affine_est_gain: True
* /svo/reprojector_affine_est_offset: True
* /svo/reprojector_max_n_kfs: 5
* /svo/scan_epi_unit_sphere: False
* /svo/seed_convergence_sigma2_thresh: 200
* /svo/update_seeds_with_old_keyframes: True
* /svo/use_async_reprojectors: False
* /svo/use_imu: False
* /svo/use_threaded_depthfilter: False
NODES
/
svo (svo_ros/svo_node)
auto-starting new master
process[master]: started with pid [1037]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to e09e93b8-a2e2-11e9-b9a7-1cbfce0abb3b
process[rosout-1]: started with pid [1050]
started core service [/rosout]
process[svo-2]: started with pid [1068]
[ INFO] [1562743093.503454066]: Found parameter: pipeline_is_stereo, value: 0
[ WARN] [1562743093.504219749]: Cannot find value for parameter: set_initial_attitude_from_gravity, assigning default: 1
[ WARN] [1562743093.505021831]: Cannot find value for parameter: automatic_reinitialization, assigning default: 0
[ INFO] [1562743093.507050296]: Found parameter: calib_file, value: /home/fanjiaojiao/svo_ws/src/rpg_svo_example/svo_ros/svo_aero/aero_OV7251_mono.yaml
loaded 1 cameras
name = /camera/mono/image_raw
size = [640, 480]
Projection = Pinhole
Focal length = (442.091, 441.935)
Principal point = (320.84, 236.038)
Distortion: RadTan(0.02752, -0.064054, 0.004263, -0.000398)
[ WARN] [1562743093.515467690]: Cannot find value for parameter: klt_max_level, assigning default: 4
[ WARN] [1562743093.516167388]: Cannot find value for parameter: klt_min_level, assigning default: 0
[ INFO] [1562743093.518198678]: Found parameter: reprojector_max_n_kfs, value: 5
[ INFO] [1562743093.519945392]: Found parameter: max_fts, value: 180
[ INFO] [1562743093.521564324]: Found parameter: grid_size, value: 35
[ WARN] [1562743093.522213710]: Cannot find value for parameter: reproject_unconverged_seeds, assigning default: 1
[ INFO] [1562743093.523816515]: Found parameter: reprojector_affine_est_offset, value: 1
[ INFO] [1562743093.525662438]: Found parameter: reprojector_affine_est_gain, value: 1
[ WARN] [1562743093.526442206]: Cannot find value for parameter: init_min_features, assigning default: 100
[ WARN] [1562743093.527181132]: Cannot find value for parameter: init_min_tracked, assigning default: 80
[ WARN] [1562743093.527907753]: Cannot find value for parameter: init_min_inliers, assigning default: 70
[ INFO] [1562743093.529992869]: Found parameter: init_min_disparity, value: 30
[ WARN] [1562743093.530742031]: Cannot find value for parameter: init_min_features_factor, assigning default: 2
[ WARN] [1562743093.531481266]: Cannot find value for parameter: reproj_err_thresh, assigning default: 2
[ WARN] [1562743093.532197905]: Cannot find value for parameter: init_disparity_pivot_ratio, assigning default: 0.5
[ WARN] [1562743093.532941691]: Cannot find value for parameter: init_method, assigning default: FivePoint
[ INFO] [1562743093.535033806]: Found parameter: grid_size, value: 35
[ INFO] [1562743093.536828043]: Found parameter: n_pyr_levels, value: 3
[ INFO] [1562743093.538602832]: Found parameter: detector_threshold_primary, value: 10
[ INFO] [1562743093.540244080]: Found parameter: detector_threshold_secondary, value: 200
[ WARN] [1562743093.540896012]: Cannot find value for parameter: use_edgelets, assigning default: 1
[ INFO] [1562743093.542846781]: Found parameter: n_pyr_levels, value: 3
[ INFO] [1562743093.548325415]: Found parameter: use_threaded_depthfilter, value: 0
[ INFO] [1562743093.550341511]: Found parameter: seed_convergence_sigma2_thresh, value: 200
[ INFO] [1562743093.552192040]: Found parameter: scan_epi_unit_sphere, value: 0
[ INFO] [1562743093.554040098]: Found parameter: depth_filter_affine_est_offset, value: 1
[ INFO] [1562743093.555774692]: Found parameter: depth_filter_affine_est_gain, value: 1
[ INFO] [1562743093.557644432]: Found parameter: max_fts, value: 180
[ WARN] [1562743093.558294108]: Cannot find value for parameter: max_seeds_ratio, assigning default: 3
[ INFO] [1562743093.560000791]: Found parameter: max_n_kfs, value: 30
[ INFO] [1562743093.561775717]: Found parameter: use_imu, value: 0
[ WARN] [1562743093.587471254]: Cannot find value for parameter: trace_dir, assigning default: /home/fanjiaojiao/svo_install_ws/install/share/svo/trace
[ INFO] [1562743093.589694715]: Found parameter: quality_min_fts, value: 40
[ INFO] [1562743093.591578072]: Found parameter: quality_max_drop_fts, value: 80
[ WARN] [1562743093.592162266]: Cannot find value for parameter: relocalization_max_trials, assigning default: 50
[ INFO] [1562743093.593818815]: Found parameter: poseoptim_prior_lambda, value: 0
[ INFO] [1562743093.595560903]: Found parameter: poseoptim_using_unit_sphere, value: 0
[ INFO] [1562743093.597324561]: Found parameter: img_align_prior_lambda_rot, value: 0
[ INFO] [1562743093.599219441]: Found parameter: img_align_prior_lambda_trans, value: 0
[ WARN] [1562743093.600195145]: Cannot find value for parameter: structure_optimization_max_pts, assigning default: 20
[ INFO] [1562743093.602961818]: Found parameter: map_scale, value: 1.5
[ INFO] [1562743093.606476555]: Found parameter: kfselect_criterion, value: FORWARD
[ WARN] [1562743093.607150126]: Cannot find value for parameter: kfselect_min_dist, assigning default: 0.12
[ INFO] [1562743093.611396817]: Found parameter: kfselect_numkfs_upper_thresh, value: 180
[ INFO] [1562743093.613967192]: Found parameter: kfselect_numkfs_lower_thresh, value: 70
[ INFO] [1562743093.615794081]: Found parameter: kfselect_min_dist_metric, value: 0.001
[ INFO] [1562743093.619167110]: Found parameter: kfselect_min_angle, value: 6
[ INFO] [1562743093.621256241]: Found parameter: kfselect_min_disparity, value: 40
[ WARN] [1562743093.621953282]: Cannot find value for parameter: kfselect_min_num_frames_between_kfs, assigning default: 2
[ INFO] [1562743093.623636549]: Found parameter: img_align_max_level, value: 4
[ INFO] [1562743093.625359556]: Found parameter: img_align_min_level, value: 2
[ WARN] [1562743093.625992318]: Cannot find value for parameter: img_align_robustification, assigning default: 0
[ WARN] [1562743093.626686576]: Cannot find value for parameter: img_align_use_distortion_jacobian, assigning default: 0
[ INFO] [1562743093.629716959]: Found parameter: img_align_est_illumination_gain, value: 1
[ INFO] [1562743093.631811069]: Found parameter: img_align_est_illumination_offset, value: 1
[ INFO] [1562743093.633968485]: Found parameter: poseoptim_thresh, value: 2
[ INFO] [1562743093.635796250]: Found parameter: update_seeds_with_old_keyframes, value: 1
[ INFO] [1562743093.637478529]: Found parameter: use_async_reprojectors, value: 0
[ INFO] [1562743093.637624426]: DepthFilter: created.
[ WARN] [1562743093.638394431]: Cannot find value for parameter: T_world_imuinit/tz, assigning default: 0
[ WARN] [1562743093.639075990]: Cannot find value for parameter: T_world_imuinit/ty, assigning default: 0
[ WARN] [1562743093.639876037]: Cannot find value for parameter: T_world_imuinit/tx, assigning default: 0
[ INFO] [1562743093.642912595]: Found parameter: T_world_imuinit/qz, value: 0
[ INFO] [1562743093.645749311]: Found parameter: T_world_imuinit/qy, value: 0
[ INFO] [1562743093.647890532]: Found parameter: T_world_imuinit/qx, value: 0
[ INFO] [1562743093.649638716]: Found parameter: T_world_imuinit/qw, value: 1
[ WARN] [1562743093.650249596]: Cannot find value for parameter: publish_img_pyr_level, assigning default: 0
[ WARN] [1562743093.650898311]: Cannot find value for parameter: publish_every_nth_img, assigning default: 1
[ INFO] [1562743093.652554037]: Found parameter: publish_every_nth_dense_input, value: 5
[ WARN] [1562743093.653964653]: Cannot find value for parameter: publish_world_in_cam_frame, assigning default: 1
[ WARN] [1562743093.654587680]: Cannot find value for parameter: publish_map_every_frame, assigning default: 0
[ WARN] [1562743093.655192140]: Cannot find value for parameter: publish_point_display_time, assigning default: 0
[ WARN] [1562743093.655788095]: Cannot find value for parameter: publish_seeds, assigning default: 1
[ WARN] [1562743093.656416315]: Cannot find value for parameter: publish_seeds_uncertainty, assigning default: 0
[ WARN] [1562743093.657055286]: Cannot find value for parameter: trace_pointcloud, assigning default: 0
[ INFO] [1562743093.658713530]: Found parameter: publish_marker_scale, value: 0.5
[ INFO] [1562743093.712918778]: Found parameter: use_imu, value: 0
[INFO] SVO: SvoNode: Started Image loop.
[ WARN] [1562743093.714036782]: Cannot find value for parameter: remote_key_topic, assigning default: svo/remote_key
[ INFO] [1562743093.718255070]: Found parameter: cam0_topic, value: /camera/mono/image_raw
Many parameters couldn't be found. And I think it's the problem of eigen's version. Could you be kind to tell me which eigen version you used to do this project, please? It seems that eigen 3.2 is too old.