Error in using fovis

[fujisys]

I try to run fovis by using the command：rosrun fovis_ros fovis_mono_depth_odometer

Then I get the following messages:

[ WARN] [1448431567.223441676]: fovis odometry status: NO_DATA
[ WARN] [1448431567.269142475]: fovis odometry status: INSUFFICIENT_INLIERS
[ WARN] [1448431567.330962002]: fovis odometry status: INSUFFICIENT_INLIERS
[ WARN] [1448431570.653291787]: fovis odometry status: REPROJECTION_ERROR

My environment: ROS hydro, Ubuntu 12.04 LTS

[miquelmassot]

Hi @fujisys!

Can you tell us how did you install libfovis and fovis-ros?
It seems that you're using a bagfile. Have you set the ROS parameter use_sim_time to true?

[fujisys]

I clone fovis and libfovis from github into a workspace.
And I use catkin_make to build them.

No, I don't use a bagfile.
I run fovis with kinect.

[plnegre]

Hi @fujisys!

The message NO_DATA appears always at the beginning in the hydro version.
The message INSUFFICIENT_INLIERS means that there are not enough inliers to estimate the motion. Is the node publishing any odometry? I mean, when you subscribe to its odometry message, are you seeing any data?

The message REPROJECTION_ERROR, in stereo images, usually indicates that your calibration is bad.

[yudongFAU]

Hi @plnegre
i have also the fovis odometry status: INSUFFICIENT_INLIER , when i run fovis in Ubuntu 16.04, kinetic with Intel R200. and my launch file looks like this:

<remap from="/camera/rgb/image_rect"  to="$(arg camera)/rgb/image_rect_mono"/>

<remap from="/camera/rgb/camera_info" to="$(arg camera)/rgb/camera_info"/>

<remap from="/camera/depth_registered/image_rect"  to="$(arg camera)/depth/image_rect"/>

<remap from="/camera/depth_registered/camera_info" to="$(arg camera)/depth/camera_info"/>

and nothing can be seen by odometry message. Maybe any suggestion?