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error running viso2_ros in monocular mode

asked 2012-09-04 05:28:25 -0500

aldo85ita gravatar image

Hi guys, I'm trying to use viso2_ros for monocular visual odometry. I'm using gscam package (http://www.ros.org/wiki/gscam) to create a video stream:

roscd gscam
export GSCAM_CONFIG="multifilesrc location=\"2010_03_09_drive_0019/I1_%06d.png\" index=0 num-buffers=-1  caps=\"image/png,framerate=\(fraction\)1/1\" ! videorate framerate=5/1 ! pngdec ! ffmpegcolorspace"
rosrun gscam gscam

Note: All *.png images are downloaded from http://www.cvlibs.net/datasets/karlsruhe_sequences.html

After I run viso2_ros to get odometry:

roscd viso2_ros
rosrun viso2_ros mono_odometer _camera_height:=0.555 _camera_pitch:=-0.523598776 _ransac_iters:=2000 _inlier_threshold:=0.00001 _motion_threshold:=100.0 /image:=gscam/image_raw

But after some image, I get the following error: ERROR: Cannot get submatrix [3..3] x [0..-1] of a (0x0) matrix.

This is due by a submatrix operation form a small matrix to a bigger one.. Can anyone help me please?

Regards

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Which sequence are you using? How does your camera info look like? I cannot reproduce the error using the sequence 2010_03_09_drive_0023.zip.

Stephan gravatar image Stephan  ( 2012-09-04 22:21:44 -0500 )edit

@Stephan Hi Stephen, I'm using 2010_03_09_drive_0023.zip , but I didn't set any CameraInfo, how can I set it? there is a file called "2010_03_09_calib.txt" that contains all camera calibration info. I need to find a way to pass them to mono_odometer application.

aldo85ita gravatar image aldo85ita  ( 2012-09-11 00:07:59 -0500 )edit

@Stephan I set the right camera info modifying "camera_parameters.txt" (the file loaded by default during gscam startup). So, now I'm passing the right "sensor_msgs/CameraInfo" to viso2_ros ( https://plus.google.com/photos/110821693483007740796/albums/5786873215167754961?a), but the problem persists

aldo85ita gravatar image aldo85ita  ( 2012-09-11 01:07:03 -0500 )edit

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answered 2012-09-12 23:37:52 -0500

aldo85ita gravatar image

I fixed the error setting the right camera calibration parameters, for details see this other topic: http://answers.ros.org/question/41936/error-with-viso2_ros-package-cannot-get-submatrix-33-x-0-1-of-a-0x0-matrix/ Regards

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Asked: 2012-09-04 05:28:25 -0500

Seen: 272 times

Last updated: Sep 12 '12