Sparse Bundle Adjustment Visualization with Rviz [closed]

asked 2013-02-28 06:06:04 -0600

Soonhac gravatar image

updated 2013-02-28 06:07:46 -0600

I'm trying to follow http://www.ros.org/wiki/sba/Tutorials/PerformingSBAOnDataFromFile (Performing SBA on Data from File). It has been running on ROS Groovy Galapagos on Ubuntu 12.04.

In the last part, Visualization with Rviz of the http://www.ros.org/wiki/sba/Tutorials/PerformingSBAOnDataFromFile (Performing SBA on Data from File), Rviz shows strange visualization because landmark points(x,y,z) and camera pose(x,y,z) in the result file have different sign in x values each other. I generated the result file by using writeBundlerFile() after running sparse bundle adjustment with sample_bundler_file.out.

This is the some part of the result file.


Bundle file v0.3

5 50

4.3000000000e+02 0.0000000000e+00 0.0000000000e+00

1.0000000000e+00 0.0000000000e+00 0.0000000000e+00

0.0000000000e+00 -1.0000000000e+00 0.0000000000e+00

0.0000000000e+00 0.0000000000e+00 -1.0000000000e+00

0.0000000000e+00 0.0000000000e+00 0.0000000000e+00 // camera pose (x y z)

4.3000000000e+02 0.0000000000e+00 0.0000000000e+00

1.0000000000e+00 -3.6102908617e-10 5.0166716117e-10

-3.6102908484e-10 -1.0000000000e+00 -2.6551691863e-09

5.0166716213e-10 2.6551691861e-09 -1.0000000000e+00

-7.5948160049e-01 1.3820343748e-08 4.6894949497e-09 // camera pose (x y z)

4.3000000000e+02 0.0000000000e+00 0.0000000000e+00

1.0000000000e+00 -3.6583800524e-10 4.3871802303e-10

-3.6583800343e-10 -1.0000000000e+00 -4.1200444567e-09

4.3871802454e-10 4.1200444565e-09 -1.0000000000e+00

-1.5189631969e+00 2.0895044828e-08 8.7468522540e-09 // camera pose (x y z)

4.3000000000e+02 0.0000000000e+00 0.0000000000e+00

1.0000000000e+00 -2.3371397854e-10 2.6513408110e-11

-2.3371397840e-10 -1.0000000000e+00 -5.5546336148e-09

2.6513409408e-11 5.5546336148e-09 -1.0000000000e+00

-2.2784447907e+00 2.7502454777e-08 1.3476074011e-08 // camera pose (x y z)

4.3000000000e+02 0.0000000000e+00 0.0000000000e+00

1.0000000000e+00 6.7231987136e-12 -5.6948044652e-10

6.7231951043e-12 -1.0000000000e+00 -6.3377854254e-09

-5.6948044656e-10 6.3377854254e-09 -1.0000000000e+00

-3.0379263828e+00 3.0655840763e-08 1.7106793080e-08 // camera pose (x y z)

0.2531605326 -0.2531605328 5.063210657 // landmark point (x y z)

255 255 255

5 0 0 21.5 21.5 1 0 -43 21.5 2 0 -107.5 21.5 3 0 -172 21.5 4 0 -236.5 21.5

0.2531605326 -0.7594815976 5.063210654 // landmark point (x y z)

255 255 255

5 0 1 21.5 64.5 1 1 -43 64.5 2 1 -107.5 64.5 3 1 -172 64.5 4 1 -236.5 64.5

0.2531605325 -1.265802662 5.063210651 // landmark point (x y z)

255 255 255

5 0 2 21.5 107.5 1 2 -43 107.5 2 2 -107.5 107.5 3 2 -172 107.5 4 2 -236.5 107.5

0.2531605324 -1.772123726 5.063210648 // landmark point (x y z)

255 255 255

5 0 3 21.5 150.5 1 3 -43 150.5 2 3 -107.5 150.5 3 3 -172 150.5 4 3 -236.5 ... (more)
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Closed for the following reason question is not relevant or outdated by tfoote
close date 2015-11-16 01:33:21.113071