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Viso2 mono_odometer error

asked 2013-01-16 14:13:37 -0500

updated 2013-01-16 14:23:16 -0500

Hi guys,

I am trying to use the viso2 package in order to obtain the monocular visual odometry using a Firefly mv camera. The camera works fine and I am able to view the images. However, when I run the command:

rosrun viso2_ros mono_odometer image:=/camera/image_raw

I get the following warnings and error:

Using default: 1.000000

Using default: 0.000000

Segmentation fault (core dumped)

Any idea what is causing this segmentation fault?

Thanks and best regards,


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I am not sure why it is not showing the warnings, I get a couple of warnings regarding setting the camera height and camera pitch.

K_Yousif gravatar image K_Yousif  ( 2013-01-16 14:26:55 -0500 )edit

2 Answers

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answered 2013-01-17 21:07:36 -0500

Stephan gravatar image

updated 2013-01-20 21:27:43 -0500

It seems that you do not use rectified images. Please calibrate your camera and make sure the camera driver pubishes the accurate CameraInfo messages. Run image_proc in the camera's namespace to generate rectified images from your raw input. Then let mono_odometer subscribe to <your camera>/image_rect. If you still have problems, please modify your question to include the full console output of mono_odometer.

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Thanks Stephan for your reply, I will try that and update the question.

K_Yousif gravatar image K_Yousif  ( 2013-01-18 01:15:36 -0500 )edit

Hi Stephans, I calibrated the camera, and subscribed to image_raw and not image_rect (which does not publish anything) and now it works. I am not sure if what i did is correct? camra_info seems to be publishing the calibrated camera information. However, I cannot find the rectified image.

K_Yousif gravatar image K_Yousif  ( 2013-01-20 18:14:22 -0500 )edit

You have to run image_ proc to generate rectified images.

Stephan gravatar image Stephan  ( 2013-01-20 21:28:36 -0500 )edit

Thanks for your response, I am running the image_proc node, but I have just realized that I forgot to add the remapping from image_rect to camera_image_rect in my launch file. I will try this later and let you know if it works.

K_Yousif gravatar image K_Yousif  ( 2013-01-20 22:03:26 -0500 )edit

Ok I realized I was not running the image_proc node in the proper way. Now it works, Thanks alot for your help. I have another question about VISO2 that I will post in a new thread so it can help others.

K_Yousif gravatar image K_Yousif  ( 2013-01-21 16:24:02 -0500 )edit

If your issue is resolved, please mark the answer as correct so that it does not show up as "unanswered" any more.

Stephan gravatar image Stephan  ( 2013-01-21 21:00:32 -0500 )edit

Hi can any of you give an example of the launch file to run Viso2. Because i'm trying to developed that lauch file and i can't. My problem is I'm not able to generated rectified images. I just put my problem in this link:_ I will appreciate any respond . Thank you

Dava2788 gravatar image Dava2788  ( 2013-10-01 09:26:58 -0500 )edit

answered 2013-03-11 02:40:43 -0500

sofiane gravatar image

Hello, I'm trying to see how to execute libviso but I do not know how to configure the CmakeListtxt could you help me please!!!

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Don't think you should ask that question 3 times within 10 minutes. Maybe create a new post with a more detailed description of what problems you are having. The normal procedure would be checking out, then making it. Then you can launch the demo provided by viso_ros.

jodafo gravatar image jodafo  ( 2013-03-11 03:02:37 -0500 )edit

Sofiane, create a new post with your question and we'll try to help you, but please, do not reply on old questions already answered.

Miquel Massot gravatar image Miquel Massot  ( 2013-03-11 10:50:19 -0500 )edit

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Asked: 2013-01-16 14:13:37 -0500

Seen: 1,098 times

Last updated: Mar 11 '13