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Memory coruption when running lsd_slam_core #1
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@kungfrank |
Hello @boonflies, |
Thanks. Does it make a difference in slam, to set the image size to 640x320 rather than 640x352 which is the drone's output image resolution? |
Hi @boonflies |
Hi @boonflies, |
I did not properly calibrate the camera, but I just got some calibration file from net. I am using this calibration file, I have not visualized the point cloud in RViz yet. I can only see it in lsd_slam's point cloud viewer. Is it right, that we get point cloud when we press 'l' followed by 'p' on the lsd_slam's pointcloud viewer and a tmp.ply file is generated. How is the point cloud topic published and visualized in RViz? |
I receive the following error, when i run,
$ rosrun lsd_slam_core live_slam image:=/ardrone/front/image_rect camera_info:=/ardrone/front/camera_info
Received ROS Camera Calibration: fx: 463.275726, fy: 535.977356, cx: 328.456696, cy: 134.693726 @ 640x360
RECEIVED ROS camera calibration!
image dimensions must be multiples of 16! Please crop your images / video accordingly.
Started mapping thread!
Started constraint search thread!
Started optimization thread
Doing Random initialization!
started image display thread!
Done Random initialization!
*** Error in `/home/dyana/ros/catkin_ws/devel/lib/lsd_slam_core/live_slam': malloc(): memory corruption: 0x0000000000cb04a0 ***
Aborted (core dumped)
Then I tried to use a calibration file, instead of camera_info,
rosrun lsd_slam_core live_slam image:=/ardrone/front/image_rect _calib:=/home/dyana/.ros/camera_info/ardrone1_default.cfg
with calibration file as follows
0.672049 0.899033 0.502065 0.513876 0.271972
640 352
none
640 352
then i received a different error,
UndistorterPTAM: input image size differs from expected input size! Not undistorting
How to solve this memory corruption error? and undistortingPTAM error?
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