cedrusx / dxslam_ros Goto Github PK

[ WARN] [1631447531.359602095]: Could not find matched image for feature at 1341846313.622103
[ERROR] [1631447532.115061067]: Tracking lost...
[ WARN] [1631447532.844893367]: Could not find matched image for feature at 1341846314.458114
[ERROR] [1631447533.570638025]: Tracking lost...
[ERROR] [1631447535.032371546]: Tracking lost...
[ERROR] [1631447536.484509575]: Tracking lost...
[ERROR] [1631447537.986276167]: Tracking lost...
[ERROR] [1631447539.445277618]: Tracking lost...

... logging to /home/mobiiin/.ros/log/7635efd0-0ffa-11ec-bae8-1002b5cd5c12/roslaunch-mobiiin-ubu-25390.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://mobiiin-ubu:45041/

SUMMARY
========

PARAMETERS
 * /dxslam/config: realsense_d435.yaml
 * /dxslam/depth_topic: d400/aligned_dept...
 * /dxslam/feature_topic: d400/color/features
 * /dxslam/image_topic: d400/color/image_raw
 * /dxslam/pub_tf_child_frame: base_link
 * /dxslam/pub_tf_parent_frame: map
 * /dxslam/reference_frame: vslam_origin
 * /dxslam/vocabulary: DXSLAM.fbow
 * /rosdistro: melodic
 * /rosversion: 1.14.11

NODES
  /
    dxslam (dxslam_ros/dxslam)
    map_vslam_tf (tf/static_transform_publisher)

auto-starting new master
process[master]: started with pid [25407]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 7635efd0-0ffa-11ec-bae8-1002b5cd5c12
process[rosout-1]: started with pid [25427]
started core service [/rosout]
process[map_vslam_tf-2]: started with pid [25438]
process[dxslam-3]: started with pid [25455]
File does not exist: DXSLAM.fbow
File does not exist: realsense_d435.yaml
Vocabulary: /home/mobiiin/catkin_ws/src/dxslam_ros/dxslam/Vocabulary/DXSLAM.fbow
Config: /home/mobiiin/catkin_ws/src/dxslam_ros/config/realsense_d435.yaml
[dxslam-3] process has died [pid 25455, exit code -11, cmd /home/mobiiin/catkin_ws/devel/lib/dxslam_ros/dxslam __name:=dxslam __log:=/home/mobiiin/.ros/log/7635efd0-0ffa-11ec-bae8-1002b5cd5c12/dxslam-3.log].
log file: /home/mobiiin/.ros/log/7635efd0-0ffa-11ec-bae8-1002b5cd5c12/dxslam-3*.log

/home/mobiiin/.local/lib/python3.6/site-packages/tensorflow/python/framework/dtypes.py:523: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
  _np_qint8 = np.dtype([("qint8", np.int8, 1)])
/home/mobiiin/.local/lib/python3.6/site-packages/tensorflow/python/framework/dtypes.py:524: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
  _np_quint8 = np.dtype([("quint8", np.uint8, 1)])
/home/mobiiin/.local/lib/python3.6/site-packages/tensorflow/python/framework/dtypes.py:525: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
  _np_qint16 = np.dtype([("qint16", np.int16, 1)])
/home/mobiiin/.local/lib/python3.6/site-packages/tensorflow/python/framework/dtypes.py:526: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
  _np_quint16 = np.dtype([("quint16", np.uint16, 1)])
/home/mobiiin/.local/lib/python3.6/site-packages/tensorflow/python/framework/dtypes.py:527: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
  _np_qint32 = np.dtype([("qint32", np.int32, 1)])
/home/mobiiin/.local/lib/python3.6/site-packages/tensorflow/python/framework/dtypes.py:532: FutureWarning: Passing (type, 1) or '1type' as a synonym of type is deprecated; in a future version of numpy, it will be understood as (type, (1,)) / '(1,)type'.
  np_resource = np.dtype([("resource", np.ubyte, 1)])
2021-08-25 13:05:06.822706: I tensorflow/core/platform/cpu_feature_guard.cc:141] Your CPU supports instructions that this TensorFlow binary was not compiled to use: AVX2 FMA
Traceback (most recent call last):
  File "/home/mobiiin/.local/lib/python3.6/site-packages/tensorflow/python/framework/ops.py", line 1628, in _create_c_op
    c_op = c_api.TF_FinishOperation(op_desc)
tensorflow.python.framework.errors_impl.InvalidArgumentError: Shape must be rank 4 but is rank 3 for 'simple_nms/MaxPoolV2' (op: 'MaxPoolV2') with input shapes: [1,?,1], [4], [4].

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
  File "/home/mobiiin/catkin_ws_py3/src/deep_features/feature_extraction/feature_extraction_node.py", line 199, in <module>
    main()
  File "/home/mobiiin/catkin_ws_py3/src/deep_features/feature_extraction/feature_extraction_node.py", line 42, in main
    net = FeatureNet()
  File "/home/mobiiin/git/deep_features/feature_extraction/hfnet_tf.py", line 36, in __init__
    config['nms_iterations'], config['nms_radius'])
  File "/home/mobiiin/git/deep_features/feature_extraction/hfnet_tf.py", line 78, in select_keypoints
    scores = self.simple_nms(scores, nms_iterations, nms_radius)
  File "/home/mobiiin/git/deep_features/feature_extraction/hfnet_tf.py", line 67, in simple_nms
    max_mask = tf.equal(scores, max_pool(scores))
  File "/home/mobiiin/git/deep_features/feature_extraction/hfnet_tf.py", line 65, in <lambda>
    strides=[1, 1, 1, 1], padding='SAME')[..., 0]
  File "/home/mobiiin/.local/lib/python3.6/site-packages/tensorflow/python/ops/gen_nn_ops.py", line 5666, in max_pool_v2
    padding=padding, data_format=data_format, name=name)
  File "/home/mobiiin/.local/lib/python3.6/site-packages/tensorflow/python/framework/op_def_library.py", line 787, in _apply_op_helper
    op_def=op_def)
  File "/home/mobiiin/.local/lib/python3.6/site-packages/tensorflow/python/util/deprecation.py", line 488, in new_func
    return func(*args, **kwargs)
  File "/home/mobiiin/.local/lib/python3.6/site-packages/tensorflow/python/framework/ops.py", line 3274, in create_op
    op_def=op_def)
  File "/home/mobiiin/.local/lib/python3.6/site-packages/tensorflow/python/framework/ops.py", line 1792, in __init__
    control_input_ops)
  File "/home/mobiiin/.local/lib/python3.6/site-packages/tensorflow/python/framework/ops.py", line 1631, in _create_c_op
    raise ValueError(str(e))
ValueError: Shape must be rank 4 but is rank 3 for 'simple_nms/MaxPoolV2' (op: 'MaxPoolV2') with input shapes: [1,?,1], [4], [4].