Error:(-49:Unknown error code -49) Input file is invalid in function 'open' when i try to run ov_msckf launch file.

[aviralshastri]

Okay, so i built my workspace with OpenVINS for usage in my project but when i try launching ov_msckf it shows this error:

aviral@aviral-LOQ-15IRX9:~$ roslaunch ov_msckf subscribe.launch config_path:=/home/aviral/rs_custom/estimator_config.yaml
... logging to /home/aviral/.ros/log/e178b504-01d5-11f0-b22f-e5ec57e4c527/roslaunch-aviral-LOQ-15IRX9-23648.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://aviral-LOQ-15IRX9:33487/

SUMMARY
========

CLEAR PARAMETERS
 * /ov_msckf/

PARAMETERS
 * /ov_msckf/config_path: /home/aviral/rs_c...
 * /ov_msckf/max_cameras: 2
 * /ov_msckf/record_timing_filepath: /tmp/traj_timing.txt
 * /ov_msckf/record_timing_information: False
 * /ov_msckf/use_stereo: True
 * /ov_msckf/verbosity: INFO
 * /rosdistro: noetic
 * /rosversion: 1.17.0

NODES
  /
    ov_msckf (ov_msckf/run_subscribe_msckf)

ROS_MASTER_URI=http://localhost:11311

process[ov_msckf-1]: started with pid [23663]
overriding node verbosity with value from ROS!
Setting printing level to: INFO
overriding node max_cameras with value from ROS!
terminate called after throwing an instance of 'cv::Exception'
  what():  OpenCV(4.2.0) ../modules/core/src/persistence.cpp:719: error: (-49:Unknown error code -49) Input file is invalid in function 'open'

================================================================================REQUIRED process [ov_msckf-1] has died!
process has died [pid 23663, exit code -6, cmd /home/aviral/catkin_ws/devel/lib/ov_msckf/run_subscribe_msckf __name:=ov_msckf __log:=/home/aviral/.ros/log/e178b504-01d5-11f0-b22f-e5ec57e4c527/ov_msckf-1.log].
log file: /home/aviral/.ros/log/e178b504-01d5-11f0-b22f-e5ec57e4c527/ov_msckf-1*.log
Initiating shutdown!
================================================================================
[ov_msckf-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done
aviral@aviral-LOQ-15IRX9:~$ 

This is my ov_msckf launch command:

roslaunch ov_msckf subscribe.launch config_path:=/home/aviral/rs_custom/estimator_config.yaml

This is my rviz launch command:

rviz -d catkin_ws/src/open_vins/ov_msckf/launch/display.rviz

This is my ros2 realsense launch command with args:

ros2 run realsense2_camera realsense2_camera_node --ros-args -p enable_gyro:=true -p enable_accel:=true -p gyro_fps:=400 -p accel_fps:=200 -p align_depth.enable:=true -p depth_width:=848 -p depth_height:=480 -p enable_depth:=true -p align_depth:=true -p ublish_odom_tf:=true -p unite_imu_method:=linear_interpolation

Yes, i am using ros bridge to convert ros 2 foxy message to ros 1 noetic message because for some reason imu was not working on noetic and no it's not causing problem (most probably) because i tested in another rviz environment separately and its working fine video steam is also fine all topics are properly being converted from ros 2 environment .

These are the topics i get after the bridging of realsense topics from ros-bridge:

aviral@aviral-LOQ-15IRX9:~$ rostopic list
/accel/sample
/aligned_depth_to_color/camera_info
/aligned_depth_to_color/image_raw
/aligned_depth_to_infra1/camera_info
/aligned_depth_to_infra1/image_raw
/color/camera_info
/color/image_raw
/depth/camera_info
/depth/image_rect_raw
/gyro/sample
/imu
/infra1/camera_info
/infra1/image_rect_raw
/infra2/camera_info
/infra2/image_rect_raw
/rosout
/rosout_agg
/tf_static

This is my estimator_config.yaml file:

%YAML:1.0 # need to specify the file type at the top!

verbosity: "INFO" # ALL, DEBUG, INFO, WARNING, ERROR, SILENT

use_fej: true # if first-estimate Jacobians should be used (enable for good consistency)
integration: "rk4" # discrete, rk4, analytical (if rk4 or analytical used then analytical covariance propagation is used)
use_stereo: true # if we have more than 1 camera, if we should try to track stereo constraints between pairs
max_cameras: 1 # how many cameras we have 1 = mono, 2 = stereo, >2 = binocular (all mono tracking)

calib_cam_extrinsics: true # if the transform between camera and IMU should be optimized R_ItoC, p_CinI
calib_cam_intrinsics: true # if camera intrinsics should be optimized (focal, center, distortion)
calib_cam_timeoffset: true # if timeoffset between camera and IMU should be optimized
calib_imu_intrinsics: false # if imu intrinsics should be calibrated (rotation and skew-scale matrix)
calib_imu_g_sensitivity: false # if gyroscope gravity sensitivity (Tg) should be calibrated

max_clones: 11 # how many clones in the sliding window
max_slam: 50 # number of features in our state vector
max_slam_in_update: 25 # update can be split into sequential updates of batches, how many in a batch
max_msckf_in_update: 40 # how many MSCKF features to use in the update
dt_slam_delay: 1 # delay before initializing (helps with stability from bad initialization...)

gravity_mag: 9.81 # magnitude of gravity in this location

feat_rep_msckf: "GLOBAL_3D"
feat_rep_slam: "ANCHORED_MSCKF_INVERSE_DEPTH"
feat_rep_aruco: "ANCHORED_MSCKF_INVERSE_DEPTH"

# zero velocity update parameters we can use
# we support either IMU-based or disparity detection.
try_zupt: false
zupt_chi2_multipler: 0 # set to 0 for only disp-based
zupt_max_velocity: 0.1
zupt_noise_multiplier: 10
zupt_max_disparity: 0.5 # set to 0 for only imu-based
zupt_only_at_beginning: false

# ==================================================================
# ==================================================================

init_window_time: 2.0 # how many seconds to collect initialization information
init_imu_thresh: 1.5 # threshold for variance of the accelerometer to detect a "jerk" in motion
init_max_disparity: 10.0 # max disparity to consider the platform stationary (dependent on resolution)
init_max_features: 50 # how many features to track during initialization (saves on computation)

init_dyn_use: false # if dynamic initialization should be used
init_dyn_mle_opt_calib: false # if we should optimize calibration during intialization (not recommended)
init_dyn_mle_max_iter: 50 # how many iterations the MLE refinement should use (zero to skip the MLE)
init_dyn_mle_max_time: 0.05 # how many seconds the MLE should be completed in
init_dyn_mle_max_threads: 6 # how many threads the MLE should use
init_dyn_num_pose: 6 # number of poses to use within our window time (evenly spaced)
init_dyn_min_deg: 10.0 # orientation change needed to try to init

init_dyn_inflation_ori: 10 # what to inflate the recovered q_GtoI covariance by
init_dyn_inflation_vel: 100 # what to inflate the recovered v_IinG covariance by
init_dyn_inflation_bg: 10 # what to inflate the recovered bias_g covariance by
init_dyn_inflation_ba: 100 # what to inflate the recovered bias_a covariance by
init_dyn_min_rec_cond: 1e-12 # reciprocal condition number thresh for info inversion

init_dyn_bias_g: [ 0.0, 0.0, 0.0 ] # initial gyroscope bias guess
init_dyn_bias_a: [ 0.0, 0.0, 0.0 ] # initial accelerometer bias guess

# ==================================================================
# ==================================================================

record_timing_information: false # if we want to record timing information of the method
record_timing_filepath: "/tmp/traj_timing.txt" # https://docs.openvins.com/eval-timing.html#eval-ov-timing-flame

# if we want to save the simulation state and its diagional covariance
# use this with rosrun ov_eval error_simulation
save_total_state: false
filepath_est: "/tmp/ov_estimate.txt"
filepath_std: "/tmp/ov_estimate_std.txt"
filepath_gt: "/tmp/ov_groundtruth.txt"

# ==================================================================
# ==================================================================

# our front-end feature tracking parameters
# we have a KLT and descriptor based (KLT is better implemented...)
use_klt: true # if true we will use KLT, otherwise use a ORB descriptor + robust matching
num_pts: 200 # number of points (per camera) we will extract and try to track
fast_threshold: 30 # threshold for fast extraction (warning: lower threshs can be expensive)
grid_x: 5 # extraction sub-grid count for horizontal direction (uniform tracking)
grid_y: 5 # extraction sub-grid count for vertical direction (uniform tracking)
min_px_dist: 15 # distance between features (features near each other provide less information)
knn_ratio: 0.70 # descriptor knn threshold for the top two descriptor matches
track_frequency: 31.0 # frequency we will perform feature tracking at (in frames per second / hertz)
downsample_cameras: false # will downsample image in half if true
num_opencv_threads: 4 # -1: auto, 0-1: serial, >1: number of threads
histogram_method: "HISTOGRAM" # NONE, HISTOGRAM, CLAHE

# aruco tag tracker for the system
# DICT_6X6_1000 from https://chev.me/arucogen/
use_aruco: false
num_aruco: 1024
downsize_aruco: true

# ==================================================================
# ==================================================================

# camera noises and chi-squared threshold multipliers
up_msckf_sigma_px: 1
up_msckf_chi2_multipler: 1
up_slam_sigma_px: 1
up_slam_chi2_multipler: 1
up_aruco_sigma_px: 1
up_aruco_chi2_multipler: 1

# masks for our images
use_mask: false

# imu and camera spacial-temporal
# imu config should also have the correct noise values
relative_config_imu: "kalibr_imu_chain.yaml"
relative_config_imucam: "kalibr_imucam_chain.yaml"

kalibr_imucam_chain.yaml

cam0:
  T_cam_imu:
  - [0.9992913672786025, 0.03162990042565437, 0.020403741851054178, 0.02116095126804767]
  - [-0.03147209158827293, 0.9994725371494547, -0.008009677589715264, -0.0035754525547239467]
  - [-0.02064632493981992, 0.007361853237807492, 0.9997597373286166, -0.012001724068850257]
  - [0.0, 0.0, 0.0, 1.0]
  cam_overlaps: []
  camera_model: pinhole
  distortion_coeffs: [0.10011237196257818, -0.17601601129449676, -0.0011558057805891222, -0.006343764923816817]
  distortion_model: radtan
  intrinsics: [904.4861433975717, 902.8235617535112, 619.6631386995157, 386.33800959748004]
  resolution: [1280, 720]
  rostopic: /color/image_raw
  timeshift_cam_imu: 0.005985131602570654

kalibr_imu_chain.yaml (i have used a separate custom node that translates separate gyro and accel data into one /imu msg):

imu0:
  T_i_b:
  - [1.0, 0.0, 0.0, 0.0]
  - [0.0, 1.0, 0.0, 0.0]
  - [0.0, 0.0, 1.0, 0.0]
  - [0.0, 0.0, 0.0, 1.0]
  accelerometer_noise_density: 0.00585745463
  accelerometer_random_walk: 0.00092871628
  gyroscope_noise_density: 0.00111827819
  gyroscope_random_walk: 5.993463e-05
  model: calibrated
  rostopic: /imu
  time_offset: 0.0
  update_rate: 199

This is my first time opening an issue on github so if i missed something to add here that can be helpful in determining plz tell and i will update it asap.

Quick response would be great as i am implementing vio in my project and the deadline is very close :)