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rgbdslam not able to get the result [closed]

asked 2012-05-28 07:07:49 -0500

priya gravatar image

updated 2014-01-28 17:12:29 -0500

ngrennan gravatar image

when i run the command roslaunch rgbdslam kinect+rgbdslam.launch i get gui but only color image depth image and third features image but i'm not getting the rgbdslam with camera pose image on top part of gui and in terminal it says the following error

[ INFO] [1338224168.891339970]: [/openni_node1] No devices connected.... waiting for devices to be connected
bool g2o::HyperGraphActionLibrary::registerAction(g2o::HyperGraphElementAction*): creating collection for "writeGnuplot"
bool g2o::HyperGraphActionLibrary::registerAction(g2o::HyperGraphElementAction*): creating collection for "draw"
Initializing Node...
[ INFO] [1338224168.933718322]: Connected to roscore
[ INFO] [1338224169.219434230]: Listening to /camera/rgb/image_color and /camera/depth/image
[ INFO] [1338224169.219877350]: Threads used by QThreadPool on this Computer 4. Will increase this by one, b/c the QtRos Thread is very lightweight
X Error: BadRequest (invalid request code or no such operation) 1
  Extension:    155 (Uknown extension)
  Minor opcode: 19 (Unknown request)
  Resource id:  0x23
X Error: BadRequest (invalid request code or no such operation) 1
  Extension:    155 (Uknown extension)
  Minor opcode: 19 (Unknown request)
  Resource id:  0x23

and also

[ INFO] [1338225002.904941687]: RANSAC found a valid transformation with 257 inliers matches with average ratio 0.220948
[ INFO] [1338225002.904997910]: Returning Valid Edge
[ INFO] [1338225002.905044975]: Rotation: 0.08, Distance:  0.002m
[ WARN] [1338225002.905112550]: Transformation not relevant. Did not add as Node
[ INFO] [1338225002.905168206]: World->Base: Translation -0.0053153 0.0474611 -0.0304579
[ INFO] [1338225002.905216732]: World->Base: Rotation 0.00478733 -0.0138469 -0.0925705 0.995598
[ INFO] [1338225004.539235426]: Feature Count of Node:  496
[ WARN] [1338225004.845683768]: Frame id /odom does not exist! Frames (7): Frame /openni_depth_optical_frame exists with parent /openni_depth_frame.
Frame /openni_depth_frame exists with parent /openni_camera.
Frame /openni_rgb_optical_frame exists with parent /openni_rgb_frame.
Frame /openni_rgb_frame exists with parent /openni_camera.
Frame /openni_camera exists with parent NO_PARENT.
Frame /map exists with parent /openni_camera.
 - No odometry available
[ INFO] [1338225004.845947526]: Odometry: Translation 0 0 0
[ INFO] [1338225004.846103225]: Odometry: Rotation 0 0 0 1
[ INFO] [1338225004.847631517]: Odometry Delta: Translation 0 0 0
[ INFO] [1338225004.847875341]: Odometry Delta: Rotation 0 0 0 1
[ WARN] [1338225004.848022894]: No Valid Odometry, using identity
[ INFO] [1338225004.848171485]: Comparing new node (8) with previous node 7
[ INFO] [1338225004.928833475]: Construction of Node with SURF Features
[ INFO] [1338225004.992024818]: Feature Matches between Nodes   8 ( 496 features) and   7 ( 510 features) in segment 1/1 (features 0 to 496 of first node):  242. Percentage: 48.790323%, Avg NN Ratio: 0.537967
[ INFO] [1338225004.992530319]: count_matrix(  9,   8) =   242;
[ INFO] [1338225004.992841356]: dista_matrix(  9,   8) =  0.218310;
[ INFO] [1338225005.009861004]: 33 good iterations (from 1000), inlier pct 95, inlier cnt: 230, error: 137.74 cm

wht shld i do

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2013-04-18 06:26:17

Comments

Pls post the tutorial/package page from where you tried to work on

karthik gravatar image karthik  ( 2012-05-28 07:59:49 -0500 )edit

I removed an option that could have caused this. If you haven't solved this yet, try updating from the repository and relaunching

Felix Endres gravatar image Felix Endres  ( 2013-01-17 22:51:16 -0500 )edit

3 Answers

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answered 2012-10-26 03:16:06 -0500

anto1389 gravatar image

Hello, Did you solve the problem? because i have the same problem but i don't have any idea of how to solve it and i really need to solve it. This is my problem: Frame id /openni_rgb_frame does not exist! Frames (1): In addition, i know that it exists because other nodes are using it.

Thank you very much!

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Comments

1

Please do not use answers for discussion, comments or new questions. Instead either use the comment functionality (you need to have enough karma for that) or create a new question.

Lorenz gravatar image Lorenz  ( 2012-10-26 03:52:41 -0500 )edit
1

What Lorenz said. And please be specific. A title like here ("not able to get the result") leaves too much need for speculation. So in fact I have no idea what the problem here is. Because the error message is probably not what's bugging you.

Felix Endres gravatar image Felix Endres  ( 2012-10-26 04:35:40 -0500 )edit
0

answered 2012-05-29 07:13:26 -0500

Do you lack opengl? The 3D display is based on opengl. If you don't, you can switch the 3D display off (set option "use_glwidget" to false in the launch file).

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Comments

no this does not solve the issue. I tried it. I still get no 3D reconstruction. I can see estimated posed and graph edges in the UI but no point clouds. Has anyone found a solution to this?

tgaaly gravatar image tgaaly  ( 2012-12-18 19:57:33 -0500 )edit

As commented above, try updating (or removing the voxelfilter parameter from the launchfile)

Felix Endres gravatar image Felix Endres  ( 2013-01-17 22:52:31 -0500 )edit
-1

answered 2012-05-28 07:39:43 -0500

priya gravatar image

updated 2012-05-29 07:11:28 -0500

in the beginning also getting few errors saying no display list could be created as shown below

[ INFO] [1338224988.787804464]: Rotation: 8.37, Distance:  0.238m
[ INFO] [1338224988.787925538]: Added Edge between 1 and 5. Inliers: 65
[ INFO] [1338224988.788120198]: Information Matrix for Edge (0<->5
25  0  0  0  0  0
 0 25  0  0  0  0
 0  0 25  0  0  0
 0  0  0 25  0  0
 0  0  0  0 25  0
 0  0  0  0  0 25
[ INFO] [1338224988.788246240]: Rotation: 22.29, Distance:  0.114m
[ INFO] [1338224988.788360570]: Added Edge between 0 and 5. Inliers: 54
[ INFO] [1338224988.803413644]: Built flannIndex (address 0x7f3d8d7d0390) for Node 5
[ INFO] [1338224988.803573771]: Added Node, new graphsize: 6 nodes
[ WARN] [1338224988.803711679]: Loop Closures: 0, Sequential Edges: 15
[ WARN] [1338224988.803755588]: Starting Optimization
[ INFO] [1338224988.803867169]: World->Base: Translation -0.0231351 0.132364 0.0418887
[ INFO] [1338224988.803987630]: World->Base: Rotation -0.00136037 -0.132094 -0.117103 0.984295
**[ERROR] [1338224988.804246420]: No display list could be created**
iteration= 0     chi2= 42.351829     time= 0.000160933   cumTime= 0.000160933    lambda= -1.000000   edges= 15   schur= 0
[ WARN] [1338224988.805015611]: G2O Statistics: 6 nodes, 15 edges. 42.3518288353744 ; chi2 , Iterations: 1
[ INFO] [1338224988.805062111]: Finished G2O optimization after 1 iterations
[ WARN] [1338224988.806400341]: Optimizer Runtime; 0.00267593 s
[ INFO] [1338224992.429717475]: Feature Count of Node:  421
[ WARN] [1338224992.732788391]: Frame id /odom does not exist! Frames (7): Frame /openni_depth_optical_frame exists with parent /openni_depth_frame.
Frame /openni_depth_frame exists with parent /openni_camera.
Frame /openni_rgb_optical_frame exists with parent /openni_rgb_frame.
Frame /openni_rgb_frame exists with parent /openni_camera.
Frame /openni_camera exists with parent NO_PARENT.
Frame /map exists with parent /openni_camera.
 - No odometry available
[ INFO] [1338224992.733198503]: Odometry: Translation 0 0 0
[ INFO] [1338224992.733370013]: Odometry: Rotation 0 0 0 1
[ INFO] [1338224992.734458060]: Odometry Delta: Translation 0 0 0
[ INFO] [1338224992.734606244]: Odometry Delta: Rotation 0 0 0 1
[ WARN] [1338224992.734699015]: No Valid Odometry, using identity
[ INFO] [1338224992.734840101]: Comparing new node (6) with previous node 5
[ INFO] [1338224992.758740952]: Construction of Node with SURF Features
[ INFO] [1338224992.775722888]: Feature Matches between Nodes   6 ( 421 features) and   5 ( 393 features) in segment 1/1 (features 0 to 421 of first node):  176. Percentage: 41.805226%, Avg NN Ratio: 0.626708
[ INFO] [1338224992.775828732]: count_matrix(  7,   6) =   176;
[ INFO] [1338224992.775873996]: dista_matrix(  7,   6) =  0.299544;
[ INFO] [1338224992.785078981]: 36 good iterations (from 1000), inlier pct 49, inlier cnt: 87, error: 215.88 cm
[ INFO] [1338224992.785162962]: RANSAC found a valid transformation with 87 inliers matches with average ratio 0.321630
[ INFO] [1338224992.785210648]: Returning Valid Edge
[ INFO] [1338224992.785274167]: Rotation: 4.20, Distance:  0.103m
[ INFO] [1338224992.785578554]: Added Edge between 5 and 6. Inliers: 87
[ INFO] [1338224992.786864780]: Node ID's to compare with candidate for node 6. Sequential: 4, 3, 2, 1, 0, 
[ INFO] [1338224992.786922982]: Running node comparisons in parallel in 9 (of 10) available threads
[ INFO] [1338224992.822657467]: Feature Matches between Nodes   6 ( 421 features) and   3 ( 445 features) in segment ...
(more)
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Asked: 2012-05-28 07:07:49 -0500

Seen: 581 times

Last updated: Oct 26 '12