FLAME_ASSERT failed: epi_ref_norm2 > 0 in function void

[steven83-co]

i tried to use flame_ros with svo and usb_cam, but this error showed up
flame error.txt
this is the log file

flame-manager-2-stdout.log
flame-flame_nodelet-3-stdout.log
can somebody tell me what happernd? thx

[steven83-co]

i tried to use flame_ros with svo and usb_cam, but this error showed up flame error.txt this is the log file

flame-manager-2-stdout.log flame-flame_nodelet-3-stdout.log can somebody tell me what happernd? thx

edit 1
I changed the camera from usb_cam to cv camera, the error is reduced but still get some error

nemo@nemo-ThinkPad-L440:~/flame_ws$ roslaunch flame_ros flame_nodelet.launch image:=/cv_camera/image_color
... logging to /home/nemo/.ros/log/c4835d28-6cff-11ec-84cf-4ceb42c01e6c/roslaunch-nemo-ThinkPad-L440-19188.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://nemo-ThinkPad-L440:44905/

SUMMARY

PARAMETERS

• /flame/flame_nodelet/debug/detections: False
• /flame/flame_nodelet/debug/features: True
• /flame/flame_nodelet/debug/flip_images: False
• /flame/flame_nodelet/debug/idepthmap: False
• /flame/flame_nodelet/debug/matches: False
• /flame/flame_nodelet/debug/normals: False
• /flame/flame_nodelet/debug/text_overlay: True
• /flame/flame_nodelet/debug/wireframe: True
• /flame/flame_nodelet/features/detection/min_error: 100
• /flame/flame_nodelet/features/detection/min_grad_mag: 5.0
• /flame/flame_nodelet/features/detection/win_size: 16
• /flame/flame_nodelet/features/do_letterbox: False
• /flame/flame_nodelet/features/tracking/epipolar_line_var: 4.0
• /flame/flame_nodelet/features/tracking/max_dropouts: 5
• /flame/flame_nodelet/features/tracking/win_size: 5
• /flame/flame_nodelet/input/camera_frame_id: cam_pos
• /flame/flame_nodelet/input/camera_world_frame_id: world
• /flame/flame_nodelet/input/poseframe_child_frame_id: body
• /flame/flame_nodelet/input/poseframe_subsample_factor: 6
• /flame/flame_nodelet/input/resize_factor: 1
• /flame/flame_nodelet/input/subsample_factor: 1
• /flame/flame_nodelet/input/use_poseframe_updates: False
• /flame/flame_nodelet/output/cloud: False
• /flame/flame_nodelet/output/depthmap: False
• /flame/flame_nodelet/output/edge_length_thresh: 0.333
• /flame/flame_nodelet/output/features: False
• /flame/flame_nodelet/output/filter_long_edges: True
• /flame/flame_nodelet/output/filter_oblique_triangles: True
• /flame/flame_nodelet/output/filter_triangles_by_idepth: True
• /flame/flame_nodelet/output/idepthmap: False
• /flame/flame_nodelet/output/load_integration_factor: 15
• /flame/flame_nodelet/output/max_angular_rate: 0.0
• /flame/flame_nodelet/output/mesh: True
• /flame/flame_nodelet/output/min_triangle_idepth: 0.01
• /flame/flame_nodelet/output/oblique_idepth_diff_abs: 0.1
• /flame/flame_nodelet/output/oblique_idepth_diff_factor: 0.35
• /flame/flame_nodelet/output/oblique_normal_thresh: 1.57
• /flame/flame_nodelet/output/quiet: True
• /flame/flame_nodelet/output/scene_color_scale: 1.0
• /flame/flame_nodelet/output/stats: True
• /flame/flame_nodelet/regularization/do_lowpass_filter: False
• /flame/flame_nodelet/regularization/do_median_filter: False
• /flame/flame_nodelet/regularization/do_nltgv2: True
• /flame/flame_nodelet/regularization/nltgv2/adaptive_data_weights: False
• /flame/flame_nodelet/regularization/nltgv2/check_sticky_obstacles: False
• /flame/flame_nodelet/regularization/nltgv2/data_factor: 0.15
• /flame/flame_nodelet/regularization/nltgv2/idepth_var_max: 0.01
• /flame/flame_nodelet/regularization/nltgv2/init_with_prediction: True
• /flame/flame_nodelet/regularization/nltgv2/max_height: 1e+14
• /flame/flame_nodelet/regularization/nltgv2/min_height: -1e+14
• /flame/flame_nodelet/regularization/nltgv2/rescale_data: False
• /flame/flame_nodelet/regularization/nltgv2/step_q: 125.0
• /flame/flame_nodelet/regularization/nltgv2/step_x: 0.001
• /flame/flame_nodelet/regularization/nltgv2/theta: 0.25
• /flame/flame_nodelet/threading/openmp/chunk_size: 1024
• /flame/flame_nodelet/threading/openmp/num_threads: 4
• /rosdistro: kinetic
• /rosversion: 1.12.17

NODES
/flame/
camera_world_to_world (tf2_ros/static_transform_publisher)
flame_nodelet (nodelet/nodelet)
manager (nodelet/nodelet)

ROS_MASTER_URI=http://localhost:11311

process[flame/camera_world_to_world-1]: started with pid [19206]
process[flame/manager-2]: started with pid [19207]
process[flame/flame_nodelet-3]: started with pid [19209]
FLAME_ASSERT failed: epi_ref_norm2 > 0 in function void flame::stereo::EpipolarGeometry::referenceEpiline(const Point2s&, flame::stereo::EpipolarGeometry::Point2s*) const [with Scalar = float; flame::stereo::EpipolarGeometry::Point2s = cv::Point_] at /home/nemo/flame_ws/src/flame/src/flame/stereo/epipolar_geometry.h: 323
Stacktrace:
/home/nemo/flame_ws/devel/lib/libflame.so : flame::Flame::detectFeatures(flame::Params const&, Eigen::Matrix<float, 3, 3, 1, 3, 3> const&, Eigen::Matrix<float, 3, 3, 1, 3, 3> const&, flame::utils::Frame const&, flame::utils::Frame const&, flame::utils::Frame const&, cv::Mat_ const&, std::vector<cv::Point_, std::allocator<cv::Point_ > > const&, cv::Mat_, std::vector<cv::Point_, std::allocator<cv::Point_ > >, flame::utils::StatsTracker*, cv::Mat_<cv::Vec<unsigned char, 3> >)+0xb40
/home/nemo/flame_ws/devel/lib/libflame.so : flame::Flame::detectionLoop()+0x202
/usr/lib/x86_64-linux-gnu/libstdc++.so.6 : ()+0xb8c80
/lib/x86_64-linux-gnu/libpthread.so.0 : ()+0x76ba
/lib/x86_64-linux-gnu/libc.so.6 : clone()+0x6d
[flame/manager-2] process has died [pid 19207, exit code 1, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=manager __log:=/home/nemo/.ros/log/c4835d28-6cff-11ec-84cf-4ceb42c01e6c/flame-manager-2.log].
log file: /home/nemo/.ros/log/c4835d28-6cff-11ec-84cf-4ceb42c01e6c/flame-manager-2.log
[flame/flame_nodelet-3] process has finished cleanly
log file: /home/nemo/.ros/log/c4835d28-6cff-11ec-84cf-4ceb42c01e6c/flame-flame_nodelet-3*.log
^C[flame/camera_world_to_world-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done