usb camera

[Basavaraj-PN]

Hi, I'm trying to run stella with usb camera and getting this error:
[ERROR] [1687865365.255758316]: Transform failed: "usb_cam" passed to lookupTransform argument target_frame does not exist.

[ymd-stella]

Insufficient information.

[Basavaraj-PN]

Apologies for the insufficient information.

1. Running this vslam node

<launch>
  <node pkg="stella_vslam_ros" type="run_slam" name="run_slam" output="screen" args="-v orb_vocab.fbow -c config.yaml --map-db-out usb_map.msg"/>
</launch>

2. Running web camera node with camera topic : camera/image_raw

<launch>
  <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" >
    <param name="video_device" value="/dev/video4" />
    <param name="image_width" value="640" />
    <param name="image_height" value="480" />
    <param name="pixel_format" value="yuyv" />
    <param name="color_format" value="yuv422p" />
    <param name="camera_frame_id" value="usb_cam" />
    <param name="io_method" value="mmap"/>
  </node>
  <node name="image_view" pkg="image_view" type="image_view" respawn="false" output="screen">
    <remap from="image" to="/usb_cam/image_raw"/>
    <param name="autosize" value="true" />
  </node>
</launch>

3. Config file

# Equirectangular model for RICOH THETA S

Camera:
  name: "RICOH THETA S 960"
  setup: "monocular"
  model: "equirectangular"
  
  fx: 395.98158864430224
  fy: 398.191151473527
  cx: 326.27622073596604
  cy: 239.90811995707537

  k1: 0.30772068302300176
  k2: 0.5299448238930105
  p1: 0.0
  p2: 0.0
  k3: -1.3306756494625152
  # k4: 1.59247748027169
  fps: 30.0
  cols: 640
  rows: 480

  color_order: "RGB"

Preprocessing:
  min_size: 800
  mask_rectangles:
    - [0.0, 1.0, 0.0, 0.1]
    - [0.0, 1.0, 0.84, 1.0]
    - [0.0, 0.2, 0.7, 1.0]
    - [0.8, 1.0, 0.7, 1.0]

Feature:
  name: "default ORB feature extraction setting"
  scale_factor: 1.2
  num_levels: 8
  ini_fast_threshold: 20
  min_fast_threshold: 7

Mapping:
  backend: "g2o"
  baseline_dist_thr_ratio: 0.02
  redundant_obs_ratio_thr: 0.95
  num_covisibilities_for_landmark_generation: 20
  num_covisibilities_for_landmark_fusion: 20

Tracking:
  backend: "g2o"

LoopDetector:
  backend: "g2o"
  enabled: true
  reject_by_graph_distance: true
  min_distance_on_graph: 50

System:
  map_format: "msgpack"

4. Terminal output

[2023-06-28 14:23:34.859] [I] 
original version of OpenVSLAM,
Copyright (C) 2019,
National Institute of Advanced Industrial Science and Technology (AIST)
All rights reserved.
stella_vslam (the changes after forking from OpenVSLAM),
Copyright (C) 2022, stella-cv, All rights reserved.

This is free software,
and you are welcome to redistribute it under certain conditions.
See the LICENSE file.

Camera:
  name: RICOH THETA S 960
  setup: monocular
  model: equirectangular
  fx: 395.98158864430224
  fy: 398.191151473527
  cx: 326.27622073596604
  cy: 239.90811995707537
  k1: 0.30772068302300176
  k2: 0.5299448238930105
  p1: 0.0
  p2: 0.0
  k3: -1.3306756494625152
  fps: 30.0
  cols: 640
  rows: 480
  color_order: RGB
Preprocessing:
  min_size: 800
  mask_rectangles:
    - [0.0, 1.0, 0.0, 0.1]
    - [0.0, 1.0, 0.84, 1.0]
    - [0.0, 0.2, 0.7, 1.0]
    - [0.8, 1.0, 0.7, 1.0]
Feature:
  name: default ORB feature extraction setting
  scale_factor: 1.2
  num_levels: 8
  ini_fast_threshold: 20
  min_fast_threshold: 7
Mapping:
  backend: g2o
  baseline_dist_thr_ratio: 0.02
  redundant_obs_ratio_thr: 0.95
  num_covisibilities_for_landmark_generation: 20
  num_covisibilities_for_landmark_fusion: 20
Tracking:
  backend: g2o
LoopDetector:
  backend: g2o
  enabled: true
  reject_by_graph_distance: true
  min_distance_on_graph: 50
System:
  map_format: msgpack

[2023-06-28 14:23:34.859] [I] loading ORB vocabulary: /home/zbr1kor/Desktop/stella_vslam/data_set/orb_vocab.fbow
[2023-06-28 14:23:34.865] [I] load orb_params "default ORB feature extraction setting"
[2023-06-28 14:23:34.865] [I] startup SLAM system
[2023-06-28 14:23:34.866] [I] start mapping module
[2023-06-28 14:23:34.866] [I] start global optimization module
[2023-06-28 14:23:42.223] [I] initialization succeeded with E
[2023-06-28 14:23:42.225] [I] new map created with 53 points: frame 209 - frame 211
[ERROR] [1687942422.234613199]: Transform failed: "odom" passed to lookupTransform argument source_frame does not exist. 
[ERROR] [1687942422.243263209]: Transform failed: "odom" passed to lookupTransform argument source_frame does not exist. 
[ERROR] [1687942422.281287441]: Transform failed: "odom" passed to lookupTransform argument source_frame does not exist. 
[ERROR] [1687942422.321732998]: Transform failed: "odom" passed to lookupTransform argument source_frame does not exist. 
[ERROR] [1687942422.342406348]: Transform failed: "odom" passed to lookupTransform argument source_frame does not exist. 
[ERROR] [1687942422.381532217]: Transform failed: "odom" passed to lookupTransform argument source_frame does not exist. 
[2023-06-28 14:23:42.421] [I] local map tracking failed (curr_frm_=217)
[2023-06-28 14:23:42.421] [I] tracking lost: frame 217
[2023-06-28 14:23:42.421] [I] tracking lost within 5 sec after initialization
[2023-06-28 14:23:42.421] [I] resetting system
[2023-06-28 14:23:42.422] [I] reset mapping module
[2023-06-28 14:23:42.426] [I] reset global optimization module
[2023-06-28 14:23:42.426] [I] clear BoW database
[2023-06-28 14:23:42.426] [I] clear map database
[2023-06-28 14:23:42.983] [I] initialization succeeded with E
[2023-06-28 14:23:42.985] [I] new map created with 72 points: frame 15 - frame 16
[ERROR] [1687942422.995973537]: Transform failed: "odom" passed to lookupTransform argument source_frame does not exist. 
[ERROR] [1687942423.022992073]: Transform failed: "odom" passed to lookupTransform argument source_frame does not exist. 
[ERROR] [1687942423.042303398]: Transform failed: "odom" passed to lookupTransform argument source_frame does not exist. 

4. Observations

* Unable to build map.

[ymd-stella]

There is not enough information about the camera you are using, is it perspective?
If it is, specify model: "perspective".