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View Code? Open in Web Editor NEWROS wrapper for DXSLAM and ORB_SLAM2 (getting RGBD from ROS topics, and publish estimated poses to ROS topic and tf)
ROS wrapper for DXSLAM and ORB_SLAM2 (getting RGBD from ROS topics, and publish estimated poses to ROS topic and tf)
hi
After following the instruction, I installed it in a Python 3 workspace
however when I run rosrun feature_extraction feature_extraction_node.py
I get the following error:
/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].
ros melodic
ubuntu 18
tensorflow cpu 1.12.0
ps:
I also tried tensorflow 1.13.1 and 1.14 and 1.15
all led to the previous error
also not a numpy issue
hi, I've set everything, and I run all the nodes at the same time. however when I play the rosbag it fails to initialize
and gives this error:
[ 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...
all of the topics are subscribed except /camera/rgb/keypoints which is published by feature_extraction node.
any help is appreciated
ERROR: cannot launch node of type [dxslam_ros/dxslam]: Cannot locate node of type [dxslam] in package [dxslam_ros]. Make sure file exists in package path and permission is set to executable (chmod +x)
hi, I followed the instruction, nevertheless i encounter this error while launching the dxslam
any help is appreciated
... 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
The difficulty is that in the ORB_SLAM2 API, the config file path is given to System, and then passed to Tracking, MapDrawer and Viewer. We have to modify all of them, or change the file with some dirty hacks.
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