QR codes with visp_auto_tracker: coin not detected with ViSP, cannot load model
Hello,
my version of ROS is Melodic and I use Ubuntu 18.04 on my laptop.
Im trying to work on detecting QR codes with latest visp_auto_tracker package but I get an error.
It is my terminal output after typing roslaunch visp_auto_tracker tracklive_usb.launch:
SUMMARY
========
PARAMETERS
* /rosdistro: melodic
* /rosversion: 1.14.3
* /usb_cam/camera_info_url: package://visp_au...
* /usb_cam/camera_name: /camera/image_raw
* /usb_cam/image_height: 480
* /usb_cam/image_width: 640
* /usb_cam/pixel_format: yuyv
* /usb_cam/video_device: /dev/video0
* /visp_auto_tracker/debug_display: True
* /visp_auto_tracker/model_name: pattern
* /visp_auto_tracker/model_path: /home/jakub/catki...
NODES
/
usb_cam (usb_cam/usb_cam_node)
visp_auto_tracker (visp_auto_tracker/visp_auto_tracker)
ROS_MASTER_URI=http://localhost:11311
process[visp_auto_tracker-1]: started with pid [7582]
process[usb_cam-2]: started with pid [7583]
[ INFO] [1550488098.514886713]: camera calibration URL: package://visp_auto_tracker/models/calibration.ini
[ INFO] [1550488098.516649168]: model full path=/home/jakub/catkin_ws/src/vision_visp/visp_auto_tracker/models/pattern
[ INFO] [1550488098.517216626]: Starting '/camera/image_raw' (/dev/video0) at 640x480 via mmap (yuyv) at 30 FPS
[ INFO] [1550488098.519081130]: Model content=#VRML V2.0 utf8
DEF fst_0 Group {
children [
# Object "cube"
Shape {
geometry DEF cube IndexedFaceSet {
coord Coordinate {
point [
-0.0765 -0.0765 0.000
0.0765 -0.0765 0.000
0.0765 0.0765 0.000
-0.0765 0.0765 0.000
-0.03825 -0.03825 0.000
0.03825 -0.03825 0.000
0.03825 0.03825 0.000
-0.03825 0.03825 0.000
]
}
coordIndex [
0,1,2,3,-1,
4,5,6,7,-1,
]}
}
]
}
starting tracker
*********** Parsing XML for Mb Edge Tracker ************
ecm : mask : size : 5
ecm : mask : nb_mask : 180
ecm : range : tracking : 10
ecm : contrast : threshold 5000
ecm : contrast : mu1 0.5
ecm : contrast : mu2 0.5
ecm : sample : sample_step : 10 (default)
[DEPRECATED] sample : sample_step : 4
WARNING : This node (sample) is deprecated.
It should be moved in the ecm node (ecm : sample).
klt : Mask Border : 0
klt : Max Features : 10000
klt : Windows Size : 5
klt : Quality : 0.05
klt : Min Distance : 20
klt : Harris Parameter : 0.01
klt : Block Size : 3
klt : Pyramid Levels : 3
face : Angle Appear : 75
face : Angle Disappear : 75
camera : u0 : 192 (default)
camera : v0 : 144 (default)
camera : px : 600 (default)
camera : py : 600 (default)
lod : use lod : 0 (default)
lod : min line length threshold : 50 (default)
lod : min polygon area threshold : 2500 (default)
terminate called after throwing an instance of 'vpException'
what(): coin not detected with ViSP, cannot load model
[ WARN] [1550488098.669955032]: unknown control 'focus_auto'
[visp_auto_tracker-1] process has died [pid 7582, exit code -6, cmd /home/jakub/catkin_ws/devel/lib/visp_auto_tracker/visp_auto_tracker /visp_auto_tracker/camera_info:=/usb_cam/camera_info /visp_auto_tracker/image_raw:=/usb_cam/image_raw __name:=visp_auto_tracker __log:=/home/jakub/.ros/log/ec341c80-336a-11e9-b427-5453ed225862/visp_auto_tracker-1.log].
log file: /home/jakub/.ros/log/ec341c80-336a-11e9-b427-5453ed225862/visp_auto_tracker-1*.log
When I try to launch tutorial.launch file from visp_auto_tracker package I get this:
terminate called after throwing an instance of 'vpException'
what(): coin not detected with ViSP, cannot load model
[visp_auto_tracker-2] process has died [pid 7719, exit code -6, cmd /home/jakub/catkin_ws/devel/lib/visp_auto_tracker/visp_auto_tracker /visp_auto_tracker/camera_info:=/camera/camera_info /visp_auto_tracker/image_raw:=/camera/image_raw __name:=visp_auto_tracker __log:=/home/jakub/.ros/log/ec341c80-336a-11e9-b427-5453ed225862/visp_auto_tracker-2.log].
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