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gftabor/SVO output

Created February 3, 2018 22:15
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SVO output
odroid@odroid:~/launches/odroid$ roslaunch cam_local.launch
... logging to /home/odroid/.ros/log/6b71b3c0-092f-11e8-893c-001e06307bd2/roslaunch-odroid-13931.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://localhost:50986/
SUMMARY
========
CLEAR PARAMETERS
* /svo/
PARAMETERS
* /rosdistro: indigo
* /rosversion: 1.11.21
* /svo/T_world_imuinit/qw: 0
* /svo/T_world_imuinit/qx: 1
* /svo/T_world_imuinit/qy: 0
* /svo/T_world_imuinit/qz: 0
* /svo/calib_file: /home/odroid/svo_...
* /svo/cam0_topic: /right/image_raw
* /svo/cam1_topic: /left/image_raw
* /svo/depth_filter_affine_est_gain: True
* /svo/depth_filter_affine_est_offset: True
* /svo/grid_size: 25
* /svo/img_align_est_illumination_gain: True
* /svo/img_align_est_illumination_offset: True
* /svo/img_align_prior_lambda_rot: 0.0
* /svo/img_align_prior_lambda_trans: 0.0
* /svo/img_align_use_distortion_jacobian: True
* /svo/init_min_features: 30
* /svo/kfselect_criterion: FORWARD
* /svo/kfselect_min_angle: 10
* /svo/kfselect_min_disparity: 25
* /svo/kfselect_min_dist_metric: 0.2
* /svo/kfselect_min_num_frames_between_kfs: 0
* /svo/kfselect_numkfs_lower_thresh: 40
* /svo/kfselect_numkfs_upper_thresh: 120
* /svo/map_scale: 5
* /svo/max_depth_inv: 0.1
* /svo/max_fts: 180
* /svo/mean_depth_inv: 0.5
* /svo/min_depth_inv: 10.0
* /svo/pipeline_is_stereo: True
* /svo/poseoptim_prior_lambda: 0.0
* /svo/poseoptim_using_unit_sphere: True
* /svo/publish_every_nth_dense_input: 5
* /svo/publish_marker_scale: 0.8
* /svo/quality_max_drop_fts: 80
* /svo/quality_min_fts: 5
* /svo/reprojector_affine_est_gain: True
* /svo/reprojector_affine_est_offset: True
* /svo/scan_epi_unit_sphere: True
* /svo/update_seeds_with_old_keyframes: True
* /svo/use_async_reprojectors: True
* /svo/use_imu: False
* /svo/use_threaded_depthfilter: False
* /uvc_camera_stereo/auto_focus: False
* /uvc_camera_stereo/focus_absolute: 0
* /uvc_camera_stereo/fps: 30
* /uvc_camera_stereo/frame: wide_stereo
* /uvc_camera_stereo/height: 480
* /uvc_camera_stereo/left/device: /dev/video1
* /uvc_camera_stereo/left/rotate: False
* /uvc_camera_stereo/right/device: /dev/video0
* /uvc_camera_stereo/width: 640
NODES
/
svo (svo_ros/svo_node)
uvc_camera_stereo (uvc_camera/uvc_stereo_node)
auto-starting new master
process[master]: started with pid [13942]
ROS_MASTER_URI=http://localhost:11311/
setting /run_id to 6b71b3c0-092f-11e8-893c-001e06307bd2
process[rosout-1]: started with pid [13955]
started core service [/rosout]
process[uvc_camera_stereo-2]: started with pid [13973]
process[svo-3]: started with pid [13974]
[ INFO] [1517695992.336914600]: Found parameter: pipeline_is_stereo, value: 1
[ WARN] [1517695992.339146280]: Cannot find value for parameter: set_initial_attitude_from_gravity, assigning default: 1
[ WARN] [1517695992.341405626]: Cannot find value for parameter: automatic_reinitialization, assigning default: 0
[ INFO] [1517695992.347005784]: Found parameter: calib_file, value: /home/odroid/svo_install_overlay_ws/src/rpg_svo_example/svo_ros/calib/fisheyeTry2.yaml
loaded 2 cameras
name = right
size = [640, 480]
Projection = Omni
Polynomial = -237.109 0 0.00193027 -3.46301e-06 1.26848e-08
Principal point = 335.52 228.478
Inverse polynomial = 330.469 167.56 -12.0058 31.3807 9.0723 5.5437 12.7505 -14.951 -31.5552 -16.7194 -2.91292 0
Affine correction =
1 0
0 1
Affine correction inverse =
1 -0
-0 1
name = left
size = [640, 480]
Projection = Omni
Polynomial = -237.727 0 0.00205669 -4.70765e-06 1.5531e-08
Principal point = 322.271 233.034
Inverse polynomial = 329.388 161.271 -16.7524 32.1778 6.89022 7.33492 19.5674 -20.1925 -45.6893 -24.8058 -4.40644 0
Affine correction =
1 0
0 1
Affine correction inverse =
1 -0
-0 1
[ INFO] [1517695992.378038339]: Found parameter: init_min_features, value: 30
[ WARN] [1517695992.381706986]: Cannot find value for parameter: init_min_tracked, assigning default: 80
[ WARN] [1517695992.384929171]: Cannot find value for parameter: init_min_inliers, assigning default: 70
[ WARN] [1517695992.388275149]: Cannot find value for parameter: init_min_disparity, assigning default: 40
[ WARN] [1517695992.390585704]: Cannot find value for parameter: init_min_features_factor, assigning default: 2
[ WARN] [1517695992.392868634]: Cannot find value for parameter: reproj_err_thresh, assigning default: 2
[ WARN] [1517695992.395127022]: Cannot find value for parameter: init_disparity_pivot_ratio, assigning default: 0.5
[ WARN] [1517695992.397401410]: Cannot find value for parameter: init_method, assigning default: FivePoint
[ WARN] [1517695992.399440589]: Cannot find value for parameter: max_n_kfs, assigning default: 5
[ INFO] [1517695992.406802465]: Found parameter: use_imu, value: 0
[ WARN] [1517695992.447714203]: Cannot find value for parameter: trace_dir, assigning default: /home/odroid/svo_install_ws/install/share/svo/trace
[ INFO] [1517695992.453035276]: Found parameter: quality_min_fts, value: 5
[ INFO] [1517695992.458179764]: Found parameter: quality_max_drop_fts, value: 80
[ WARN] [1517695992.459966150]: Cannot find value for parameter: relocalization_max_trials, assigning default: 50
[ INFO] [1517695992.465083888]: Found parameter: poseoptim_prior_lambda, value: 0
[ INFO] [1517695992.470330085]: Found parameter: poseoptim_using_unit_sphere, value: 1
[ INFO] [1517695992.476143786]: Found parameter: img_align_prior_lambda_rot, value: 0
[ INFO] [1517695992.481861735]: Found parameter: img_align_prior_lambda_trans, value: 0
[ WARN] [1517695992.484007831]: Cannot find value for parameter: structure_optimization_max_pts, assigning default: 20
[ INFO] [1517695992.489680114]: Found parameter: map_scale, value: 5
[ INFO] [1517695992.495637566]: Found parameter: kfselect_criterion, value: FORWARD
[ WARN] [1517695992.497746578]: Cannot find value for parameter: kfselect_min_dist, assigning default: 0.12
[ INFO] [1517695992.503290694]: Found parameter: kfselect_numkfs_upper_thresh, value: 120
[ INFO] [1517695992.509310604]: Found parameter: kfselect_numkfs_lower_thresh, value: 40
[ INFO] [1517695992.515057845]: Found parameter: kfselect_min_dist_metric, value: 0.2
[ INFO] [1517695992.520859837]: Found parameter: kfselect_min_angle, value: 10
[ INFO] [1517695992.527966629]: Found parameter: kfselect_min_disparity, value: 25
[ INFO] [1517695992.538826817]: Found parameter: kfselect_min_num_frames_between_kfs, value: 0
[ WARN] [1517695992.540932413]: Cannot find value for parameter: img_align_max_level, assigning default: 4
[ WARN] [1517695992.543063092]: Cannot find value for parameter: img_align_min_level, assigning default: 2
[ WARN] [1517695992.545071353]: Cannot find value for parameter: img_align_robustification, assigning default: 0
[ INFO] [1517695992.550830970]: Found parameter: img_align_use_distortion_jacobian, value: 1
[ INFO] [1517695992.559152685]: Found parameter: img_align_est_illumination_gain, value: 1
[ INFO] [1517695992.565276346]: Found parameter: img_align_est_illumination_offset, value: 1
[ WARN] [1517695992.567330691]: Cannot find value for parameter: poseoptim_thresh, assigning default: 2
[ INFO] [1517695992.572589264]: Found parameter: update_seeds_with_old_keyframes, value: 1
[ INFO] [1517695992.577829961]: Found parameter: use_async_reprojectors, value: 1
[ WARN] [1517695992.579657846]: Cannot find value for parameter: n_pyr_levels, assigning default: 3
[ INFO] [1517695992.584638875]: Found parameter: use_threaded_depthfilter, value: 0
[ WARN] [1517695992.586470803]: Cannot find value for parameter: seed_convergence_sigma2_thresh, assigning default: 200
[ INFO] [1517695992.591563374]: Found parameter: scan_epi_unit_sphere, value: 1
[ INFO] [1517695992.596717446]: Found parameter: depth_filter_affine_est_offset, value: 1
[ INFO] [1517695992.601665391]: Found parameter: depth_filter_affine_est_gain, value: 1
[ INFO] [1517695992.606937505]: Found parameter: max_fts, value: 180
[ WARN] [1517695992.608795016]: Cannot find value for parameter: max_seeds_ratio, assigning default: 3
[ INFO] [1517695992.613802337]: Found parameter: grid_size, value: 25
[ WARN] [1517695992.615630723]: Cannot find value for parameter: n_pyr_levels, assigning default: 3
[ WARN] [1517695992.617452983]: Cannot find value for parameter: detector_threshold_primary, assigning default: 10
[ WARN] [1517695992.619373411]: Cannot find value for parameter: detector_threshold_secondary, assigning default: 200
[ WARN] [1517695992.621263339]: Cannot find value for parameter: use_edgelets, assigning default: 1
[ INFO] [1517695992.626304326]: Found parameter: max_fts, value: 180
[ INFO] [1517695992.631361147]: Found parameter: max_depth_inv, value: 0.1
[ INFO] [1517695992.637649309]: Found parameter: min_depth_inv, value: 10
[ INFO] [1517695992.647569492]: Found parameter: mean_depth_inv, value: 0.5
[ WARN] [1517695992.652577729]: Cannot find value for parameter: reprojector_max_n_kfs, assigning default: 5
[ INFO] [1517695992.665762098]: Found parameter: max_fts, value: 180
[ INFO] [1517695992.675843948]: Found parameter: grid_size, value: 25
[ WARN] [1517695992.679101675]: Cannot find value for parameter: reproject_unconverged_seeds, assigning default: 1
[ INFO] [1517695992.688495980]: Found parameter: reprojector_affine_est_offset, value: 1
[ INFO] [1517695992.698124703]: Found parameter: reprojector_affine_est_gain, value: 1
[ WARN] [1517695992.701457097]: Cannot find value for parameter: klt_max_level, assigning default: 4
[ WARN] [1517695992.704826408]: Cannot find value for parameter: klt_min_level, assigning default: 0
[ INFO] [1517695992.706946087]: DepthFilter: created.
[ INFO] [1517695992.712458995]: Found parameter: T_world_imuinit/qw, value: 0
[ INFO] [1517695992.717630775]: Found parameter: T_world_imuinit/qx, value: 1
[ INFO] [1517695992.722679471]: Found parameter: T_world_imuinit/qy, value: 0
[ INFO] [1517695992.727834959]: Found parameter: T_world_imuinit/qz, value: 0
[ WARN] [1517695992.729635261]: Cannot find value for parameter: T_world_imuinit/tx, assigning default: 0
[ WARN] [1517695992.731648940]: Cannot find value for parameter: T_world_imuinit/ty, assigning default: 0
[ WARN] [1517695992.733612409]: Cannot find value for parameter: T_world_imuinit/tz, assigning default: 0
[ WARN] [1517695992.735599088]: Cannot find value for parameter: publish_img_pyr_level, assigning default: 0
[ WARN] [1517695992.737434348]: Cannot find value for parameter: publish_every_nth_img, assigning default: 1
[ INFO] [1517695992.742528711]: Found parameter: publish_every_nth_dense_input, value: 5
[ WARN] [1517695992.746840070]: Cannot find value for parameter: publish_world_in_cam_frame, assigning default: 1
[ WARN] [1517695992.748766873]: Cannot find value for parameter: publish_map_every_frame, assigning default: 0
[ WARN] [1517695992.750721926]: Cannot find value for parameter: publish_point_display_time, assigning default: 0
[ WARN] [1517695992.752696937]: Cannot find value for parameter: publish_seeds, assigning default: 1
[ WARN] [1517695992.754644907]: Cannot find value for parameter: publish_seeds_uncertainty, assigning default: 0
[ WARN] [1517695992.756663877]: Cannot find value for parameter: trace_pointcloud, assigning default: 0
[ INFO] [1517695992.761793990]: Found parameter: publish_marker_scale, value: 0.8
[ INFO] [1517695993.039880016]: Found parameter: use_imu, value: 0
[ WARN] [1517695993.044172374]: Cannot find value for parameter: remote_key_topic, assigning default: svo/remote_key
[ INFO] [1517695993.049220444]: Found parameter: cam0_topic, value: /right/image_raw
[ INFO] [1517695993.058291494]: Found parameter: cam1_topic, value: /left/image_raw
[ INFO] [1517695994.555703533]: DepthFilter: RESET.
[ INFO] [1517695994.556182952]: DepthFilter: RESET.
FRAME 1
-1 0 -0 -0.0032425
0 -1 0 -0.258178
0 -0 1 -0.0239061
0 0 0 1
FRAME 2
1 0 0 0.0027947
0 1 0 -0.258839
0 0 1 -0.0032215
0 0 0 1
[ INFO] [1517695994.594393533]: Stereo: Triangulated 18 features,108 failed.
[ERROR] [1517695994.594653576]: Initialization failed. Not enough triangulated points.
FRAME 1
-1 0 -0 -0.0032425
0 -1 0 -0.258178
0 -0 1 -0.0239061
0 0 0 1
FRAME 2
1 0 0 0.0027947
0 1 0 -0.258839
0 0 1 -0.0032215
0 0 0 1
[ INFO] [1517695994.655876696]: Stereo: Triangulated 20 features,124 failed.
[ERROR] [1517695994.656118864]: Initialization failed. Not enough triangulated points.
FRAME 1
-1 0 -0 -0.0032425
0 -1 0 -0.258178
0 -0 1 -0.0239061
0 0 0 1
FRAME 2
1 0 0 0.0027947
0 1 0 -0.258839
0 0 1 -0.0032215
0 0 0 1
[ INFO] [1517695994.706535927]: Stereo: Triangulated 19 features,136 failed.
[ERROR] [1517695994.706813553]: Initialization failed. Not enough triangulated points.
FRAME 1
-1 0 -0 -0.0032425
0 -1 0 -0.258178
0 -0 1 -0.0239061
0 0 0 1
FRAME 2
1 0 0 0.0027947
0 1 0 -0.258839
0 0 1 -0.0032215
0 0 0 1
[ INFO] [1517695994.757755493]: Stereo: Triangulated 17 features,142 failed.
[ERROR] [1517695994.758007786]: Initialization failed. Not enough triangulated points.
FRAME 1
-1 0 -0 -0.0032425
0 -1 0 -0.258178
0 -0 1 -0.0239061
0 0 0 1
FRAME 2
1 0 0 0.0027947
0 1 0 -0.258839
0 0 1 -0.0032215
0 0 0 1
[ INFO] [1517695994.809440521]: Stereo: Triangulated 22 features,140 failed.
[ERROR] [1517695994.809796898]: Initialization failed. Not enough triangulated points.
FRAME 1
-1 0 -0 -0.0032425
0 -1 0 -0.258178
0 -0 1 -0.0239061
0 0 0 1
FRAME 2
1 0 0 0.0027947
0 1 0 -0.258839
0 0 1 -0.0032215
0 0 0 1
[ INFO] [1517695994.861549967]: Stereo: Triangulated 23 features,145 failed.
[ERROR] [1517695994.861802677]: Initialization failed. Not enough triangulated points.
FRAME 1
-1 0 -0 -0.0032425
0 -1 0 -0.258178
0 -0 1 -0.0239061
0 0 0 1
FRAME 2
1 0 0 0.0027947
0 1 0 -0.258839
0 0 1 -0.0032215
0 0 0 1
[ INFO] [1517695994.927809907]: Stereo: Triangulated 31 features,224 failed.
[ INFO] [1517695994.950944739]: Init: Selected first frame.
[ WARN] [1517695995.037684614]: critical
[ INFO] [1517695995.109504485]: Stereo: Triangulated 56 features,149 failed.
[ WARN] [1517696014.138168375]: critical
[ERROR] [1517696014.162276697]: Downsizing storage not implemented. cols = 180 , desired = 125, num features = 50
[ INFO] [1517696014.210139133]: Stereo: Triangulated 37 features,156 failed.
[ WARN] [1517696015.490032775]: critical
[ INFO] [1517696015.579821706]: Stereo: Triangulated 51 features,226 failed.
[ WARN] [1517696016.306038867]: critical
[ERROR] [1517696016.329338726]: Downsizing storage not implemented. cols = 180 , desired = 141, num features = 40
[ INFO] [1517696016.375899861]: Stereo: Triangulated 39 features,181 failed.
[ WARN] [1517696016.584013629]: critical
[ INFO] [1517696016.665833907]: Stereo: Triangulated 47 features,203 failed.
[ WARN] [1517696018.373013170]: critical
[ERROR] [1517696018.396511819]: Downsizing storage not implemented. cols = 180 , desired = 173, num features = 80
[ INFO] [1517696018.440911026]: Stereo: Triangulated 41 features,167 failed.
[ WARN] [1517696019.205814361]: critical
[ INFO] [1517696019.289456008]: Stereo: Triangulated 56 features,208 failed.
[ WARN] [1517696020.152428374]: critical
[ERROR] [1517696020.177937527]: Downsizing storage not implemented. cols = 180 , desired = 126, num features = 98
[ INFO] [1517696020.205163601]: Stereo: Triangulated 22 features,106 failed.
[ WARN] [1517696020.667428644]: critical
[ INFO] [1517696020.758416724]: Stereo: Triangulated 57 features,232 failed.
[ WARN] [1517696022.029007709]: critical
[ INFO] [1517696022.108465001]: Stereo: Triangulated 45 features,205 failed.
[ WARN] [1517696023.015031889]: critical
[ INFO] [1517696023.097242686]: Stereo: Triangulated 50 features,205 failed.
[ WARN] [1517696024.994112797]: critical
[ERROR] [1517696025.017305106]: Downsizing storage not implemented. cols = 180 , desired = 171, num features = 76
[ INFO] [1517696025.064460976]: Stereo: Triangulated 29 features,158 failed.
[ WARN] [1517696025.880739841]: critical
[ INFO] [1517696025.958168621]: Stereo: Triangulated 46 features,183 failed.
[ WARN] [1517696027.218150949]: critical
[ERROR] [1517696027.241439215]: Downsizing storage not implemented. cols = 180 , desired = 173, num features = 76
[ INFO] [1517696027.286250660]: Stereo: Triangulated 39 features,136 failed.
[ WARN] [1517696028.735778871]: critical
[ INFO] [1517696028.806712129]: Stereo: Triangulated 32 features,170 failed.
[ WARN] [1517696030.751061652]: critical
[ERROR] [1517696030.774044041]: Downsizing storage not implemented. cols = 180 , desired = 158, num features = 66
[ INFO] [1517696030.814040971]: Stereo: Triangulated 36 features,134 failed.
[ WARN] [1517696031.008105482]: critical
[ INFO] [1517696031.086330586]: Stereo: Triangulated 52 features,184 failed.
[ WARN] [1517696031.241493583]: critical
[ERROR] [1517696031.265364182]: Downsizing storage not implemented. cols = 180 , desired = 134, num features = 42
[ INFO] [1517696031.302064020]: Stereo: Triangulated 30 features,134 failed.
[ WARN] [1517696031.518867706]: critical
[ INFO] [1517696031.594804888]: Stereo: Triangulated 46 features,183 failed.
[ WARN] [1517696031.755494482]: critical
[ERROR] [1517696031.778657829]: Downsizing storage not implemented. cols = 180 , desired = 147, num features = 45
[ INFO] [1517696031.824615481]: Stereo: Triangulated 34 features,149 failed.
[ WARN] [1517696032.062998302]: critical
[ INFO] [1517696032.140145568]: Stereo: Triangulated 42 features,182 failed.
[ WARN] [1517696032.299799990]: critical
[ERROR] [1517696032.322580711]: Downsizing storage not implemented. cols = 180 , desired = 122, num features = 54
[ INFO] [1517696032.356383291]: Stereo: Triangulated 47 features,95 failed.
[ WARN] [1517696032.584207833]: critical
[ INFO] [1517696032.651744036]: Stereo: Triangulated 35 features,168 failed.
[ WARN] [1517696033.043065299]: critical
[ERROR] [1517696033.065755186]: Downsizing storage not implemented. cols = 180 , desired = 63, num features = 41
[ INFO] [1517696033.088487990]: Stereo: Triangulated 22 features,72 failed.
[ WARN] [1517696033.443650078]: critical
[ INFO] [1517696033.518449963]: Stereo: Triangulated 55 features,157 failed.
[ WARN] [1517696034.261292880]: critical
[ERROR] [1517696034.298829343]: Downsizing storage not implemented. cols = 180 , desired = 80, num features = 35
[ INFO] [1517696034.333772508]: Stereo: Triangulated 28 features,107 failed.
[ WARN] [1517696034.567860807]: critical
[ INFO] [1517696034.654313885]: Stereo: Triangulated 51 features,205 failed.
[ WARN] [1517696034.821618444]: critical
[ERROR] [1517696034.844218330]: Downsizing storage not implemented. cols = 180 , desired = 47, num features = 36
[ INFO] [1517696034.855820441]: Stereo: Triangulated 11 features,36 failed.
[ WARN] [1517696035.080166674]: critical
[ INFO] [1517696035.176996525]: Stereo: Triangulated 60 features,204 failed.
[ WARN] [1517696035.337111148]: critical
[ERROR] [1517696035.360404952]: Downsizing storage not implemented. cols = 180 , desired = 39, num features = 31
[ INFO] [1517696035.374401693]: Stereo: Triangulated 8 features,43 failed.
[ WARN] [1517696035.598716757]: critical
[ INFO] [1517696035.697719904]: Stereo: Triangulated 53 features,217 failed.
[ WARN] [1517696035.826358246]: critical
[ERROR] [1517696035.849393674]: Downsizing storage not implemented. cols = 180 , desired = 45, num features = 32
[ INFO] [1517696035.859734948]: Stereo: Triangulated 13 features,28 failed.
[ WARN] [1517696036.062655420]: critical
[ INFO] [1517696036.144169859]: Stereo: Triangulated 41 features,208 failed.
[ WARN] [1517696036.289724612]: critical
[ERROR] [1517696036.313635626]: Downsizing storage not implemented. cols = 180 , desired = 83, num features = 33
[ INFO] [1517696036.348293873]: Stereo: Triangulated 33 features,118 failed.
[ WARN] [1517696036.554891226]: critical
[ INFO] [1517696036.642841555]: Stereo: Triangulated 56 features,219 failed.
[ WARN] [1517696036.773213565]: critical
[ERROR] [1517696036.797260412]: Downsizing storage not implemented. cols = 180 , desired = 36, num features = 29
[ INFO] [1517696036.807195477]: Stereo: Triangulated 7 features,31 failed.
[ WARN] [1517696037.028149405]: critical
[ INFO] [1517696037.117438569]: Stereo: Triangulated 52 features,226 failed.
[ WARN] [1517696037.268397416]: critical
[ERROR] [1517696037.291834512]: Downsizing storage not implemented. cols = 180 , desired = 39, num features = 33
[ INFO] [1517696037.300095906]: Stereo: Triangulated 6 features,25 failed.
[ WARN] [1517696037.513183979]: critical
[ INFO] [1517696037.606775111]: Stereo: Triangulated 52 features,234 failed.
[ WARN] [1517696037.731102564]: critical
[ERROR] [1517696037.756013455]: Downsizing storage not implemented. cols = 180 , desired = 42, num features = 33
[ INFO] [1517696037.768256233]: Stereo: Triangulated 9 features,34 failed.
[ WARN] [1517696037.963848850]: critical
[ INFO] [1517696038.055486893]: Stereo: Triangulated 58 features,219 failed.
[ WARN] [1517696038.179155593]: critical
[ERROR] [1517696038.202699272]: Downsizing storage not implemented. cols = 180 , desired = 32, num features = 28
[ INFO] [1517696038.206782365]: Stereo: Triangulated 4 features,12 failed.
[ WARN] [1517696038.405195069]: critical
[ INFO] [1517696038.495539234]: Stereo: Triangulated 66 features,216 failed.
[ WARN] [1517696038.617480721]: critical
[ERROR] [1517696038.640844316]: Downsizing storage not implemented. cols = 180 , desired = 60, num features = 29
[ INFO] [1517696038.679013154]: Stereo: Triangulated 31 features,96 failed.
[ WARN] [1517696038.872629014]: critical
[ INFO] [1517696038.961764384]: Stereo: Triangulated 68 features,200 failed.
[ WARN] [1517696039.101723787]: critical
[ERROR] [1517696039.124651464]: Downsizing storage not implemented. cols = 180 , desired = 35, num features = 32
[ INFO] [1517696039.126693135]: Stereo: Triangulated 3 features,4 failed.
[ WARN] [1517696039.328660012]: critical
[ INFO] [1517696039.420174387]: Stereo: Triangulated 53 features,226 failed.
[ WARN] [1517696039.541129370]: critical
[ERROR] [1517696039.564489465]: Downsizing storage not implemented. cols = 180 , desired = 40, num features = 27
[ INFO] [1517696039.585578222]: Stereo: Triangulated 13 features,57 failed.
[ WARN] [1517696039.787792807]: critical
[ INFO] [1517696039.880074434]: Stereo: Triangulated 73 features,215 failed.
[ WARN] [1517696040.006295471]: critical
[ERROR] [1517696040.029481357]: Downsizing storage not implemented. cols = 180 , desired = 30, num features = 28
[ INFO] [1517696040.032525364]: Stereo: Triangulated 2 features,6 failed.
[ WARN] [1517696040.228999059]: critical
[ INFO] [1517696040.321816519]: Stereo: Triangulated 67 features,218 failed.
[ WARN] [1517696040.447043095]: critical
[ERROR] [1517696040.470218564]: Downsizing storage not implemented. cols = 180 , desired = 64, num features = 18
[ INFO] [1517696040.501370301]: Stereo: Triangulated 37 features,110 failed.
[ WARN] [1517696040.700918461]: critical
[ INFO] [1517696040.788020450]: Stereo: Triangulated 56 features,221 failed.
[ WARN] [1517696040.917873495]: critical
[ERROR] [1517696040.941472173]: Downsizing storage not implemented. cols = 180 , desired = 85, num features = 23
[ INFO] [1517696040.973468787]: Stereo: Triangulated 41 features,99 failed.
[ERROR] [1517696041.246164444]: seed sigma is nan!-1.50805e-85, sqnan, check-convergence = 0
F0203 17:14:01.246528 14205 angle-axis-inl.h:112] Check failed: (axis.squaredNorm()) <= (static_cast<Scalar>(1.0))+(static_cast<Scalar>(1e-4)) (-nan vs. 1.0001)
*** Check failure stack trace: ***
@ 0xb65d2844 google::LogMessage::Fail()
@ 0xb65d2726 google::LogMessage::SendToLog()
@ 0xb65d223a google::LogMessage::Flush()
@ 0xb65d49b8 google::LogMessageFatal::~LogMessageFatal()
@ 0xb6a5441e svo::Matcher::scanEpipolarUnitSphere()
@ 0xb6a54964 svo::Matcher::findEpipolarMatchDirect()
@ 0xb6a5629e svo::depth_filter_utils::updateSeed()
@ 0xb6a589c2 svo::DepthFilter::updateSeeds()
@ 0xb6aa9d50 svo::FrameHandlerStereo::makeKeyframe()
@ 0xb6aaa9f4 svo::FrameHandlerStereo::processFrame()
@ 0xb6ab049e svo::FrameHandlerBase::addFrameBundle()
@ 0xb6ab0e7e svo::FrameHandlerBase::addImageBundle()
@ 0xb6e8ba70 svo::SvoInterface::stereoCallback()
@ 0xb6e91fea boost::detail::function::void_function_obj_invoker9<>::invoke()
@ 0xb6e98b94 boost::function9<>::operator()()
@ 0xb6e98ef6 message_filters::CallbackHelper9T<>::call()
@ 0xb6e95d98 message_filters::Signal9<>::call()
@ 0xb6e96e8c message_filters::sync_policies::ExactTime<>::checkTuple()
@ 0xb6e970d2 message_filters::Synchronizer<>::cb<>()
@ 0xb6e95b2c message_filters::CallbackHelper1T<>::call()
@ 0xb6e9466e image_transport::SubscriberFilter::cb()
@ 0xb0b311d6 image_transport::RawSubscriber::internalCallback()
@ 0xb6b1b578 boost::detail::function::void_function_obj_invoker1<>::invoke()
@ 0xb0b33d10 ros::SubscriptionCallbackHelperT<>::call()
@ 0xb6f92578 ros::SubscriptionQueue::call()
@ 0xb6f63f12 ros::CallbackQueue::callOneCB()
@ 0xb6f64600 ros::CallbackQueue::callAvailable()
@ 0xb6e8ccc6 svo::SvoInterface::stereoLoop()
@ 0xb6e11854 (unknown)
[svo-3] process has died [pid 13974, exit code -6, cmd /home/odroid/svo_install_overlay_ws/devel/lib/svo_ros/svo_node __name:=svo __log:=/home/odroid/.ros/log/6b71b3c0-092f-11e8-893c-001e06307bd2/svo-3.log].
log file: /home/odroid/.ros/log/6b71b3c0-092f-11e8-893c-001e06307bd2/svo-3*.log
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