error running viso2_ros in monocular mode
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
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 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.
@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