RGBDSLAM sum of covariances not invertible

asked 2012-02-22 05:45:55 -0600

ZdenekM

704 ●30 ●42 ●52

updated 2016-10-24 09:02:38 -0600

ngrennan
1 ●1 ●1

Hello,

I'm trying to use RGBDSLAM on bag file data. After start of processing there is a lot of errors in terminal like this:

[ERROR] [1329932176.311416364]: Sum of Covariances not invertible: 
 inf  inf -inf
 inf  inf -inf
-inf -inf  inf
[ERROR] [1329932176.311986136]: Sum of Covariances not invertible: 
 inf  inf -inf
 inf  inf -inf
-inf -inf  inf

What is wrong?
My launchfile: http://pastebin.com/n8nuKnXD
Info of used bag file:

path:        2012-02-17-12-09-16.bag
version:     2.0
duration:    6:00s (360s)
start:       Feb 17 2012 12:09:16.69 (1329476956.69)
end:         Feb 17 2012 12:15:16.73 (1329477316.73)
size:        18.1 GB
messages:    95096
compression: none [17979/17979 chunks]
types:       geometry_msgs/PoseWithCovarianceStamped [953b798c0f514ff060a53a3498ce6246]
             geometry_msgs/Twist                     [9f195f881246fdfa2798d1d3eebca84a]
             nav_msgs/Odometry                       [cd5e73d190d741a2f92e81eda573aca7]
             sensor_msgs/CameraInfo                  [c9a58c1b0b154e0e6da7578cb991d214]
             sensor_msgs/Image                       [060021388200f6f0f447d0fcd9c64743]
             tf/tfMessage                            [94810edda583a504dfda3829e70d7eec]
topics:      /camera/depth/camera_info    8991 msgs    : sensor_msgs/CameraInfo                 
             /camera/depth/image_raw      8991 msgs    : sensor_msgs/Image                      
             /camera/rgb/camera_info      9000 msgs    : sensor_msgs/CameraInfo                 
             /camera/rgb/image_color      9000 msgs    : sensor_msgs/Image                      
             /camera/rgb/image_mono       9000 msgs    : sensor_msgs/Image                      
             /camera/rgb/image_raw        9000 msgs    : sensor_msgs/Image                      
             /cmd_vel                     1530 msgs    : geometry_msgs/Twist                    
             /odom                        3601 msgs    : nav_msgs/Odometry                      
             /robot_pose_ekf/odom         3600 msgs    : geometry_msgs/PoseWithCovarianceStamped
             /tf                         32383 msgs    : tf/tfMessage                            (7 connections)

Thanks for any hints.

UPDATE

I've added this line to the code:

depth_float_img.convertTo(depth_float_img,CV_32FC1,0.001);

RGBDSlam is running for some time but then it crashes...

Logfile is here: http://mysharegadget.com/144891718

Comments

answered 2012-02-27 21:55:45 -0600

Felix Endres

6468 ●28 ●57 ●93 http://www.informatik....

updated 2012-02-28 05:23:58 -0600

RGBDSLAM requires /camera/depth/image (which contains float values in meter), not /camera/depth/image_raw (which provides 16bit integer values in mm). If you don't want to re-record the data and know C++, you can add a conversion in src/openni_listener.cpp in the method

void OpenNIListener::noCloudCallback (const sensor_msgs::ImageConstPtr& visual_img_msg,...)

There are two lines:

cv::Mat depth_float_img = cv_bridge::toCvCopy(depth_img_msg)->image;

Add changes s.t. the image is converted to float and meter there.

Please try:

cv::Mat depth_float_img2;
depth_float_img.convertTo(depth_float_img2,CV_32FC1);
depth_float_img = depth_float_img2 * 0.001

This should avoid all problems with casting and inplace. Hope that helps with the crash. Otherwise try setting the debug-flag in the launchfile (line 9) and see where (and hopefully why) it crashes.

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Comments

Thanks for answer! I've added conversion to float and scaling to milimetres (see updated question). RGBDSlam is running for some time and then crash.

ZdenekM ( 2012-02-27 23:44:48 -0600 )edit

Hm, I see no obvious problem. The NaN warnings in the log could be avoided if you also converted the (original) depth image with CV_8UC1 into the depth_mono8_img_ variable. However that shouldn't cause the crash.

Felix Endres ( 2012-02-28 05:13:23 -0600 )edit

The lines saying "RANSAC found no valid trafo, but had initially X feature matches with average ratio Y" makes me think that something is wrong with the depth value, because X and Y are very good. Could be because you convert inplace or because of casting. See the update of my post

Felix Endres ( 2012-02-28 05:20:46 -0600 )edit

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