editing launch file mono_demo.launch
i am trying to run the mono odometer from the viso2 package ( https://github.com/srv/viso2/blob/gro... )
i would to know how do i changed the bagfiles from stereo to mono
<?xml version="1.0"?>
<launch>
<param name="/use_sim_time" value="true"/>
<node ns="/" name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc" clear_params="true" output="screen">
<!-- Run the ROS package stereo_image_proc -->
<node pkg="image_proc" type="image_proc" name="image_proc"/>
<remap from="image_raw" to="/stereo_forward/right/image_raw" />
<remap from="camera_info" to="/stereo_forward/right/camera_info" />
<param name="queue_size" value="200000" />
<param name="disparity_range" value="64" />
<!-- Run the viso2_ros package -->
<node pkg="viso2_ros" type="mono_odometer" name="mono_odometer" output="screen">
<!-- Matcher params -->
<param name="nms_n" value="3" />
<param name="nms_tau" value="50" />
<param name="match_binsize" value="50" />
<param name="match_radius" value="200" />
<param name="match_disp_tolerance" value="2" />
<param name="outlier_disp_tolerance" value="5" />
<param name="outlier_flow_tolerance" value="5" />
<param name="multi_stage" value="1" />
<param name="half_resolution" value="1" />
<param name="refinement" value="1" />
<!-- Bucketing params -->
<param name="max_features" value="2" />
<param name="bucket_width" value="50" />
<param name="bucket_height" value="50" />
<!-- Mono params -->
<param name="camera_height" value="1.0" />
<param name="camera_pitch" value="0.0" />
<param name="ransac_iters" value="2000" />
<param name="inlier_threshold" value="1e-5" />
<param name="motion_threshold" value="100" />
</node>
<node pkg="tf" type="static_transform_publisher" name="bla" args="0.0 0.0 0.0 0.0 0.0 -1.571 /base_link /stereo_forward_optical 50">
</node>
</launch>
After running
~/catkin_ws/src/viso2-indigo/viso2_ros/launch$ roslaunch viso2_ros mono1.launch
vc3@vc3-M4HM87P-00:~/catkin_ws/src/viso2-indigo/viso2_ros/launch$ roslaunch viso2_ros mono1.launch
... logging to /home/vc3/.ros/log/a796c9d2-0763-11e6-b787-dc85deffe141/roslaunch-vc3-M4HM87P-00-16009.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://vc3-M4HM87P-00:36128/
SUMMARY
========
PARAMETERS
* /disparity_range: 64
* /mono_odometer/bucket_height: 50
* /mono_odometer/bucket_width: 50
* /mono_odometer/camera_height: 1.0
* /mono_odometer/camera_pitch: 0.0
* /mono_odometer/half_resolution: 1
* /mono_odometer/inlier_threshold: 1e-5
* /mono_odometer/match_binsize: 50
* /mono_odometer/match_disp_tolerance: 2
* /mono_odometer/match_radius: 200
* /mono_odometer/max_features: 2
* /mono_odometer/motion_threshold: 100
* /mono_odometer/multi_stage: 1
* /mono_odometer/nms_n: 3
* /mono_odometer/nms_tau: 50
* /mono_odometer/outlier_disp_tolerance: 5
* /mono_odometer/outlier_flow_tolerance: 5
* /mono_odometer/ransac_iters: 2000
* /mono_odometer/refinement: 1
* /queue_size: 200000
* /rosdistro: indigo
* /rosversion: 1.11.16
* /use_sim_time: True
NODES
/
bla (tf/static_transform_publisher)
image_proc (image_proc/image_proc)
mono_odometer (viso2_ros/mono_odometer)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found
process[image_proc-1]: started with pid [16027]
process[mono_odometer-2]: started with pid [16028]
process[bla-3]: started with pid [16029]
[ WARN] [1461212766.438703146]: mono_odometer needs rectified input images. The used image topic is 'image'. Are you sure the images are rectified?
[ INFO] [1461212766.455661296]: Basic Odometer Settings:
odom_frame_id = /odom
base_link_frame_id = /base_link
publish_tf = true
invert_tf = false
[ WARN] [1461212776.536035120]: [image_transport] Topics '/image' and '/stereo_forward/right/camera_info' do not appear to be synchronized. In the last 10s:
Image messages received: 0
CameraInfo messages received: 98
Synchronized pairs: 0
[ WARN] [1461212786.536403426]: [image_transport] Topics '/image' and '/stereo_forward/right/camera_info' do not appear to be synchronized. In the last 10s:
Image messages received: 0
CameraInfo messages received: 100
Synchronized pairs: 0
Can somebody help me with converting of stereo to ...
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