Error: TF_NAN_INPUT
shishiteng opened this issue · comments
Hi, I have build VI-Mean and run stereo_mapper by:
roslaunch stereo_mapper sample_all.bag
ros play sample.bag
then I get this error and there is no ouput in rviz.
TF_NAN_INPUT: Ignoring transform for child_frame_id "latest" from authority "unknown_publisher" because of a nan value in the transform
It seems the TF is not correct,how can I slove this problem?
===================error log===================
[ERROR] [1496647623.422564822]: clear state
[ INFO] [1496647623.422499639]: init feature_manager
[ INFO] [1496647623.422554020]: init begins
[ INFO] [1496647623.423289956]: init finished
[ INFO] [1496647623.433806623]: Loaded max_feature_cnt: 2000000
[ INFO] [1496647623.435222359]: Loaded num_of_iter: 10
[ INFO] [1496647623.440544295]: Loaded calib_threshold_ric: 0
[ INFO] [1496647623.441644691]: Loaded calib_threshold_tic: 1
[ INFO] [1496647623.444181972]: Loaded init_depth: 15
[ INFO] [1496647623.445526465]: Loaded gradient_threshold: 1
[ INFO] [1496647623.449151205]: Loaded feature_threshold: 5
[ INFO] [1496647623.450998068]: Loaded min_parallax: 10
[ INFO] [1496647623.453138170]: Loaded min_parallax_point: 2
[ INFO] [1496647623.454235381]: Loaded error_threshold: 1e+10
[ INFO] [1496647623.454862644]: Loaded show_histogram: 0
[ INFO] [1496647623.457832523]: Loaded show_graph: 0
[ INFO] [1496647623.459905662]: Loaded show_html: 0
[ INFO] [1496647623.460681247]: Loaded multi_thread: 0
[ INFO] [1496647623.463400699]: Loaded imu_rate: 200
[ INFO] [1496647623.463899570]: Loaded acc_n: 0.01
[ INFO] [1496647623.465681542]: Loaded acc_w: 1e-05
[ INFO] [1496647623.467542400]: Loaded gyr_n: 0.05
[ INFO] [1496647623.469421115]: Loaded gyr_w: 5e-05
[ INFO] [1496647623.473346109]: Loaded bias_acc_threshold: 0.5
[ INFO] [1496647623.475465393]: Loaded bias_gyr_threshold: 0.1
[ INFO] [1496647623.477724274]: Loaded solver_time: 0.04
[ INFO] [1496647623.480436803]: Loaded compensate_rotation: 1
180
-0
0
[ INFO] [1496647623.481699040]: Loaded ric_ok0: 1
[ INFO] [1496647623.483338358]: Loaded ric_r0: 90
[ INFO] [1496647623.484138172]: Loaded ric_p0: 0
[ INFO] [1496647623.488649501]: Loaded ric_y0: -90
6.12323e-17 6.12323e-17 -1
-1 3.7494e-33 -6.12323e-17
0 1 6.12323e-17
[ INFO] [1496647623.834737489]: read parameter
[ INFO] [1496647623.835225352]: Loaded calib_dir: /home/sst/catkin_ws/src/VI-MEAN/stereo_mapper/calib/
[ INFO] [1496647623.835624116]: Loaded cam_name: sample
/home/sst/catkin_ws/src/VI-MEAN/stereo_mapper/calib/sample/left.yml
367.613 0 369.043
0 367.89 236.542
0 0 1
[367.61258, 0, 369.042951;
0, 367.890163, 236.542114;
0, 0, 1]
[-0.260607;
0.053823;
-0.000793;
-0.000622]
25.6435
12.8217
8.54782
6.41087
5.1287
4.27391
3.66335
3.20543
2.84927
2.56435
2.33122
2.13696
1.97258
1.83168
1.70956
1.60272
1.50844
1.42464
1.34966
1.28217
1.22112
1.16561
1.11493
1.06848
1.02574
0.986288
0.949758
0.915838
0.884258
0.854782
0.827209
0.801359
0.777075
0.75422
0.732671
0.712319
0.693067
0.674828
0.657525
0.641087
0.625451
0.610559
0.59636
0.582806
0.569855
0.557467
0.545606
0.534239
0.523336
0.512869
0.502813
0.493144
0.483839
0.474879
0.466245
0.457919
0.449886
0.442129
0.434635
0.427391
0.420385
0.413604
0.407039
0.400679
feature_tracker: /usr/include/boost/smart_ptr/shared_ptr.hpp:653: typename boost::detail::sp_member_access::type boost::shared_ptr::operator->() const [with T = camodocal::Camera; typename boost::detail::sp_member_access::type = camodocal::Camera*]: Assertion `px != 0' failed.
[feature_tracker-5] process has died [pid 4744, exit code -6, cmd /home/sst/catkin_ws/devel/lib/feature_tracker/feature_tracker ~imu:=/imu_3dm_gx4/imu ~raw_image:=/mv_25001498/image_raw __name:=feature_tracker __log:=/home/sst/.ros/log/5e5ce6ac-49c0-11e7-8a18-d050990f0e30/feature_tracker-5.log].
log file: /home/sst/.ros/log/5e5ce6ac-49c0-11e7-8a18-d050990f0e30/feature_tracker-5*.log
[ INFO] [1496647623.391456847]: Starting up chisel node.
[ INFO] [1496647623.463007645]: Mode depth image
[ INFO] [1496647623.463036244]: Subscribing.
[ INFO] [1496647623.537278194]: Beginning to loop.
Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "latest" from authority "unknown_publisher" because of a nan value in the transform (94890481149738720.000000 -355808590104206336.000000 -5371015146347901952.000000) (-nan -nan -nan -nan)
at line 240 in /tmp/binarydeb/ros-indigo-tf2-0.5.13/src/buffer_core.cpp
[ERROR] [1496647628.745755094]: Ignoring transform for child_frame_id "latest" from authority "unknown_publisher" because of a nan value in the transform (94890481149738720.000000 -355808590104206336.000000 -5371015146347901952.000000) (-nan -nan -nan -nan)
Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "latest" from authority "unknown_publisher" because of a nan value in the transform (94890481150505296.000000 -355808590107080768.000000 -5371015146391291904.000000) (-nan -nan -nan -nan)
at line 240 in /tmp/binarydeb/ros-indigo-tf2-0.5.13/src/buffer_core.cpp
[ERROR] [1496647628.751236576]: Ignoring transform for child_frame_id "latest" from authority "unknown_publisher" because of a nan value in the transform (94890481150505296.000000 -355808590107080768.000000 -5371015146391291904.000000) (-nan -nan -nan -nan)
Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "latest" from authority "unknown_publisher" because of a nan value in the transform (94890481151266384.000000 -355808590109934592.000000 -5371015146434371584.000000) (-nan -nan -nan -nan)
at line 240 in /tmp/binarydeb/ros-indigo-tf2-0.5.13/src/buffer_core.cpp
[ERRTF_NAN_INPUT: Ignoring transform for child_frame_id "latest" from authority "unknown_publisher" because of a nan value in the transform (94890481151269424.000000 -355808590109945984.000000 -5371015146434543616.000000) (-nan -nan -nan -nan)
at line 240 in /tmp/binarydeb/ros-indigo-tf2-0.5.13/src/buffer_core.cpp
[ERROR] [1496647628.757356342]: Ignoring transform for child_frame_id "latest" from authority "unknown_publisher" because of a nan value in the transform (94890481151269424.000000 -355808590109945984.000000 -5371015146434543616.000000) (-nan -nan -nan -nan)
Error: TF_NAN_INPUT: Ignoring transform for child_frame_id "latest" from authority "unknown_publisher" because of a nan value in the transform (94890481152029728.000000 -355808590112796864.000000 -5371015146477578240.000000) (-nan -nan -nan -nan)
I meet the same problem, did you work it out? @shishiteng
did you work it out? @CanCanZeng @ @shishiteng
有没有大神知道为什么啊
no, I give up
不能give up啊
I have the same problem here
I have the same problem, i found when play sample.bag, feature_tracker node process died, I try to relaunch feature node ,get the same result.
NODES
/
feature_tracker (feature_tracker/feature_tracker)
ROS_MASTER_URI=http://localhost:11311
process[feature_tracker-1]: started with pid [20957]
init done
opengl support available
[feature_tracker-1] process has died [pid 20957, exit code -11, cmd /home/zhuchen/workspace/uav-slam/devel/lib/feature_tracker/feature_tracker ~imu:=/imu_3dm_gx4/imu ~raw_image:=/mv_25001498/image_raw __name:=feature_tracker __log:=/home/zhuchen/.ros/log/77433f3c-dff4-11e9-b3f6-04d4c48fdb2a/feature_tracker-1.log].
log file: /home/zhuchen/.ros/log/77433f3c-dff4-11e9-b3f6-04d4c48fdb2a/feature_tracker-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
I have the same problem here, was this ever solved? Any insight would be much appreciated. Thanks!