Hi, I am trying to insert two images in one window to visualize and extract ORB features accordingly. This is the error I get when I run the program:
OpenCV Error: Assertion failed (key_ != -1 && "Can't fetch data from terminated TLS container.") in getData, file /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/core/src/system.cpp, line 1532
terminate called after throwing an instance of 'cv::Exception'
what(): /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/core/src/system.cpp:1532: error: (-215) key_ != -1 && "Can't fetch data from terminated TLS container." in function getData
Aborted (core dumped)
This is also a piece of my code written in c++:
void FrameDrawer::DrawFrame(Mat &img_1, int f_k, Mat &img_2, int f_k_plus_1 , float mT)
{
const string &frameWinName = "ORB_VISLAM | Frames";
namedWindow(frameWinName);
if (img_1.empty())
{
cout << "img_1 empty! => BLANK!" << endl;
img_1 = Mat::zeros(img_2.rows,img_2.cols, CV_8UC3);
}
if (img_2.empty())
{
cout << "img_2 empty! => STOP!" << endl;
//img_1 = Mat::zeros(img_2.rows,img_2.cols, CV_8UC3);
exit(EXIT_FAILURE);
}
if (f_k == f_k_plus_1)
{
return;
}
float scale = .4;
// img1:
int w1,h1;
int w1_scaled, h1_scaled;
w1 = img_1.cols;
h1 = img_1.rows;
w1_scaled = w1*scale;
h1_scaled = h1*scale;
// img2:
int w2,h2;
int w2_scaled, h2_scaled;
w2 = img_2.cols;
h2 = img_2.rows;
w2_scaled = w2*scale;
h2_scaled = h2*scale;
// MULTIPLE WINDOW:
Mat window_img = Mat::zeros(cv::Size(w1_scaled+w2_scaled, h1_scaled), CV_8UC3);
Mat temp1;
Mat temp2;
vector<cv::KeyPoint> vIniKeys; // Initialization: KeyPoints in reference frame
vector<int> vMatches; // Initialization: correspondeces with reference keypoints
vector<cv::KeyPoint> vCurrentKeys; // KeyPoints in current frame
vector<bool> vbVO, vbMap; // Tracked MapPoints in current frame
int state; // Tracking state
//Copy variables within scoped mutex
{
unique_lock<mutex> lock(mMutex);
state = mState;
if(mState==Tracking::SYSTEM_NOT_READY)
{
mState=Tracking::NO_IMAGES_YET;
}
if(mState==Tracking::NOT_INITIALIZED)
{
vCurrentKeys = mvCurrentKeys;
vIniKeys = mvIniKeys;
vMatches = mvIniMatches;
}
else if(mState==Tracking::OK)
{
vCurrentKeys = mvCurrentKeys;
vbVO = mvbVO;
vbMap = mvbMap;
}
else if(mState==Tracking::LOST)
{
vCurrentKeys = mvCurrentKeys;
}
} // destroy scoped mutex -> release mutex
if(img_1.channels()<3) //this should be always true
{
cvtColor(img_1,img_1,CV_GRAY2BGR);
}
if(img_2.channels()<3) //this should be always true
{
cvtColor(img_2,img_2,CV_GRAY2BGR);
}
//Draw
if(state==Tracking::NOT_INITIALIZED) //INITIALIZING
{
Point2f p_i1(1000,100);
cv::circle(img_1,p_i1,20,Scalar(0,10,255),LINE_4);
stringstream s_i1;
//cout << "idx = " << f_idx<< endl;
s_i1 << "Reference Frame = "+to_string(f_k);
cv::putText(img_1,s_i1.str(),cv::Point(80,50),
cv::FONT_HERSHEY_PLAIN, 3, Scalar::all(255),4,LINE_4);
// current keyP on img_2:
Point2f p_i2(1000,500);
cv::circle(img_2,p_i2,20,Scalar::all(255),LINE_4);
stringstream s_i2;
//cout << "idx = " << f_idx<< endl;
s_i2 << "Current Frame = "+to_string(f_k_plus_1);
cv::putText(img_2,s_i2.str(),cv::Point(80,50),
cv::FONT_HERSHEY_PLAIN, 3, Scalar::all(255),4,LINE_4);
for(unsigned int i = 0; i < vMatches.size(); i++)
{
if(vMatches[i] >= 0)
{
//cv::line(im,vIniKeys[i].pt,vCurrentKeys[vMatches[i]].pt, Scalar(0,250,250));
cv::circle(img_1,vIniKeys[i].pt,6,Scalar::all(255),LINE_4);
//cv::circle(im,vCurrentKeys[vMatches[i]].pt,4,Scalar(170,1,1),LINE_4);
cv::circle(img_2,vCurrentKeys[i].pt,6,Scalar(1,200,197),LINE_4);
}
}
}
else if(state==Tracking::OK) //TRACKING
{
// img_1:
stringstream s_i1;
s_i1 << "VISION AVAILABLE!...";
cv::putText(img_1,s_i1.str(),cv::Point(80,50),
cv::FONT_HERSHEY_PLAIN, 3, Scalar(0,230,0),1,LINE_4);
// img_2:
stringstream s_i2;
s_i2 << "Matching ORB features...";
cv::putText(img_2,s_i2.str(),cv::Point(80,50),
cv::FONT_HERSHEY_PLAIN, 3, Scalar(0,230,0),1,LINE_4);
mnTracked=0;
mnTrackedVO=0;
const float r = 5;
const int n = vCurrentKeys.size();
for(int i = 0; i < n; i++)
{
if(vbVO[i] || vbMap[i])
{
Point2f pt1,pt2;
pt1.x = vCurrentKeys[i].pt.x-r;
pt1.y = vCurrentKeys[i].pt.y-r;
pt2.x = vCurrentKeys[i].pt.x+r;
pt2.y = vCurrentKeys[i].pt.y+r;
// This is a match to a MapPoint in the map
if(vbMap[i])
{
//BGR color values (3 parameters)
cv::rectangle(img_2,pt1,pt2,Scalar(0,255,0));
cv::circle(img_2,vCurrentKeys[i].pt,2,Scalar(0,255,0),-1);
cv::line(window_img,vIniKeys[i].pt,vCurrentKeys[i].pt,Scalar(0,250,250));
mnTracked++;
}
else
{
cv::rectangle(img_2,pt1,pt2,Scalar(255,0,0));
cv::circle(img_2,vCurrentKeys[i].pt,2,Scalar(1,0,250),-1);
mnTrackedVO++;
}
}
}
}
resize(img_1,temp1, Size(w1_scaled, h1_scaled));
temp1.copyTo(window_img(Rect(0, 0, w1_scaled, h1_scaled)));
resize(img_2,temp2, Size(w2_scaled, h2_scaled));
temp2.copyTo(window_img(Rect(w1_scaled, 0, w2_scaled, h2_scaled)));
imshow(frameWinName,window_img);
waitKey(mT);
//waitKey();
}
Your help is appreciated! Cheers,
