[Bug] Missing parameter: pose_recovery_type error

[LimHyungTae]

Problem

After building the workspace, I conducted unit test as follows:

roslaunch kimera_multi kimera_vio_jackal.launch robot_name:="acl_jackal2" robot_id:=0 use_d455:=true multirobot:=false lcd_no_optimize:=true use_external_odom:=true replay:=true should_use_sim_time:=true

Yet, it outputs an error message as follows:

F0817 16:48:32.307374 4048116 YamlParser.h:44] Check failed: file_handle.type() != cv::FileNode::NONE (0 vs. 0) **Missing parameter: pose_recovery_type in file: /home/shapelim/kimera_multi_ws/src/kimera_multi/params/D455/LcdParams.yaml**
*** Check failure stack trace: ***
    @     0x7fd8360d0703  google::LogMessage::Fail()
    @     0x7fd8360d54ab  google::LogMessage::SendToLog()
    @     0x7fd8360d03ff  google::LogMessage::Flush()
    @     0x7fd8360d0c2f  google::LogMessageFatal::~LogMessageFatal()
    @     0x7fd830fcd52d  VIO::YamlParser::getYamlParam<>()
    @     0x7fd83111e2f5  VIO::LoopClosureDetectorParams::parseYAML()
    @     0x7fd8310e6b94  VIO::parsePipelineParams<>()
    @     0x7fd8310e0b02  VIO::VioParams::parseYAML()
    @     0x7fd8310e251f  VIO::VioParams::VioParams()
    @     0x7fd8310e2e6a  VIO::VioParams::VioParams()
    @     0x7fd835e5704a  VIO::KimeraVioRos::KimeraVioRos()
    @     0x5620c07fc9c1  main
    @     0x7fd83552c083  __libc_start_main
    @     0x5620c07fca4e  _start
================================================================================REQUIRED process [acl_jackal2/kimera_vio_ros/kimera_vio_ros_node-1] has died!
process has died [pid 4048116, exit code -6, cmd /home/shapelim/kimera_multi_ws/devel/lib/kimera_vio_ros/kimera_vio_ros_node --use_lcd=true --vocabulary_path=/home/shapelim/kimera_multi_ws/src/kimera_multi_lcd/vocab/mit_voc.yml --flagfile=/home/shapelim/kimera_multi_ws/src/kimera_multi/params/D455/flags/Mesher.flags --flagfile=/home/shapelim/kimera_multi_ws/src/kimera_multi/params/D455/flags/VioBackend.flags --flagfile=/home/shapelim/kimera_multi_ws/src/kimera_multi/params/D455/flags/RegularVioBackend.flags --flagfile=/home/shapelim/kimera_multi_ws/src/kimera_multi/params/D455/flags/Visualizer3D.flags --use_external_odometry=true --do_coarse_imu_camera_temporal_sync=false --do_fine_imu_camera_temporal_sync=false --lcd_no_optimize=true --lcd_no_detection=false --depth_image_mask= --logtostderr=1 --colorlogtostderr=1 --log_prefix=1 --minloglevel=0 --v=0 --log_output=false --log_euroc_gt_data=false --output_path=/home/shapelim/kimera_multi_ws/src/Kimera-VIO-ROS/output_logs/ --lcd_disable_stereo_match_depth_check=true --no_incremental_pose=true --viz_type=2 --visualize=true left_cam/image_raw:=/acl_jackal2/forward/infra1/image_rect_raw left_cam/image_raw/compressed:=/acl_jackal2/forward/infra1/image_rect_raw/compressed right_cam/image_raw:=/acl_jackal2/forward/infra2/image_rect_raw right_cam/image_raw/compressed:=/acl_jackal2/forward/infra2/image_rect_raw/compressed imu:=/acl_jackal2/forward/imu external_odom:=/acl_jackal2/jackal_velocity_controller/odom reinit_flag:=reinit_flag reinit_pose:=reinit_pose odometry:=odometry resiliency:=resiliency imu_bias:=imu_bias optimized_trajectory:=optimized_trajectory pose_graph:=pose_graph mesh:=mesh frontend_stats:=frontend_stats debug_mesh_img/image_raw:=debug_mesh_img/image_raw feature_tracks/image_raw:=feature_tracks/image_raw time_horizon_pointcloud:=time_horizon_pointcloud __name:=kimera_vio_ros_node __log:=/home/shapelim/.ros/log/e8f4c314-5ccf-11ef-8b10-89c894c2eed9/acl_jackal2-kimera_vio_ros-kimera_vio_ros_node-1.log].
log file: /home/shapelim/.ros/log/e8f4c314-5ccf-11ef-8b10-89c894c2eed9/acl_jackal2-kimera_vio_ros-kimera_vio_ros_node-1*.log
Initiating shutdown!
================================================================================
[acl_jackal2/right_img_decompress-5] killing on exit
[acl_jackal2/left_img_decompress-4] killing on exit
[acl_jackal2/base_to_realsense-3] killing on exit
[acl_jackal2/kimera_vio_ros/posegraph_viewer-2] killing on exit
[acl_jackal2/kimera_vio_ros/kimera_vio_ros_node-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete

[LimHyungTae]

Bebugging

To check what parts are updated, I run diff kimera_vio/params/D455/LcdParams.yaml kimera_multi/params/D455/LcdParams.yaml and it outputs:

4c4
< alpha: 0.2
---
> alpha: 0.4
19c19
< nfeatures: 1000
---
> nfeatures: 700
60,63c60
< # pose_recovery_type options:
< #   0: 3d3d (Arun)
< #   1: PnP (opengv)
< pose_recovery_type: 0
---
> use_pnp_pose_recovery: 0

Q1. Is there a reason to change the parameter to use_pnp_pose_recovery? I think it's wrong, because all the codes still use pose_recovery_type as follows:

---

Input in the command

grep -r "use_pnp_pose_recovery" .

Output lines

./kimera_multi/params/D455/LcdParams.yaml:use_pnp_pose_recovery: 0

(i.e., there's nowhere that use_pnp_pose_recovery is used!)

---

Input in the command

grep -r "pose_recovery_type" . 

Output lines

./kimera_vio/params/KinectAzure/LcdParams.yaml:# pose_recovery_type options:
./kimera_vio/params/KinectAzure/LcdParams.yaml:pose_recovery_type: 0
./kimera_vio/params/uHumans1/LcdParams.yaml:# pose_recovery_type options:
./kimera_vio/params/uHumans1/LcdParams.yaml:pose_recovery_type: 0
./kimera_vio/params/EurocMono/LcdParams.yaml:# pose_recovery_type options:
./kimera_vio/params/EurocMono/LcdParams.yaml:pose_recovery_type: 2
./kimera_vio/params/uHumans2/LcdParams.yaml:# pose_recovery_type options:
./kimera_vio/params/uHumans2/LcdParams.yaml:pose_recovery_type: 0
./kimera_vio/params/Euroc/LcdParams.yaml:# pose_recovery_type options:
./kimera_vio/params/Euroc/LcdParams.yaml:pose_recovery_type: 0
./kimera_vio/params/D455/LcdParams.yaml:# pose_recovery_type options:
./kimera_vio/params/D455/LcdParams.yaml:pose_recovery_type: 0
./kimera_vio/params/RealSenseIR/LcdParams.yaml:# pose_recovery_type options:
./kimera_vio/params/RealSenseIR/LcdParams.yaml:pose_recovery_type: 0
./kimera_vio/tests/testLoopClosureDetector.cpp:  lcd_params_.pose_recovery_type_ = PoseRecoveryType::kPnP;
./kimera_vio/tests/testLoopClosureDetector.cpp:  lcd_params_.pose_recovery_type_ = PoseRecoveryType::kPnP;
./kimera_vio/tests/testLoopClosureDetector.cpp:  lcd_params_.pose_recovery_type_ = PoseRecoveryType::k5ptRotOnly;
./kimera_vio/tests/testLoopClosureDetector.cpp:  lcd_params_.pose_recovery_type_ = PoseRecoveryType::kPnP;
./kimera_vio/tests/testLoopClosureDetector.cpp:  lcd_params_.pose_recovery_type_ = PoseRecoveryType::kPnP;
./kimera_vio/tests/data/ForLoopClosureDetector/testLCDParameters.yaml:# pose_recovery_type options:
./kimera_vio/tests/data/ForLoopClosureDetector/testLCDParameters.yaml:pose_recovery_type: 0
./kimera_vio/tests/data/EurocParams/LcdParams.yaml:# pose_recovery_type options:
./kimera_vio/tests/data/EurocParams/LcdParams.yaml:pose_recovery_type: 0
./kimera_vio/include/kimera-vio/loopclosure/LoopClosureDetectorParams.h:  PoseRecoveryType pose_recovery_type_ = PoseRecoveryType::k3d3d;
./kimera_vio/src/loopclosure/LoopClosureDetectorParams.cpp:  int pose_recovery_type;
./kimera_vio/src/loopclosure/LoopClosureDetectorParams.cpp:  yaml_parser.getYamlParam("pose_recovery_type", &pose_recovery_type);
./kimera_vio/src/loopclosure/LoopClosureDetectorParams.cpp:  pose_recovery_type_ = static_cast<PoseRecoveryType>(pose_recovery_type);
./kimera_vio/src/loopclosure/LoopClosureDetectorParams.cpp:                        "pose_recovery_type_",
./kimera_vio/src/loopclosure/LoopClosureDetectorParams.cpp:                        static_cast<unsigned int>(pose_recovery_type_),
./kimera_vio/src/loopclosure/LoopClosureDetectorParams.cpp:         (pose_recovery_type_ == lp2.pose_recovery_type_) &&
./kimera_vio/src/loopclosure/LoopClosureDetector.cpp:      if (lcd_params_.pose_recovery_type_ == PoseRecoveryType::kPnP ||
./kimera_vio/src/loopclosure/LoopClosureDetector.cpp:          lcd_params_.pose_recovery_type_ == PoseRecoveryType::k5ptRotOnly) {
./kimera_vio/src/loopclosure/LoopClosureDetector.cpp:    if (lcd_params_.pose_recovery_type_ == PoseRecoveryType::k5ptRotOnly) {
./kimera_vio/src/loopclosure/LoopClosureDetector.cpp:  switch (lcd_params_.pose_recovery_type_) {
./kimera_vio/src/loopclosure/LoopClosureDetector.cpp:                 << static_cast<unsigned int>(lcd_params_.pose_recovery_type_)
./kimera_vio/src/loopclosure/LoopClosureDetector.cpp:  switch (lcd_params_.pose_recovery_type_) {
./kimera_vio/src/loopclosure/LoopClosureDetector.cpp:                 << static_cast<unsigned int>(lcd_params_.pose_recovery_type_)

[yuluntian]

Thanks for investigating this! I think this was inherited from older kimera vio settings, and I created a PR to fix this issue.