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I am using viso2 mono_odometer. I am sure packages are working good because I check rxgraph and topics are linked properly. The problem is the position data in mono_odometer is always around zero like something to e-300, no matter how I move my computer. BTW, I am testing with my integrated camera of my laptop using gscam. Thank you in advance if anyone has any idea.
Jia,
please read the limitations section on this wiki page. To make the viso2 mono_odometer work you have to move the camera parallel to the ground and have to make sure there are features on the ground as well as above the ground. If you want a "freehand" odometry system, viso2 is not what you are looking for as it is designed for wide angle cameras rigidly mounted on cars. For a small scale odometry system I'd always recommend using an RGBD sensor (Microsoft Kinect or Asus Xtion or similar) together with fovis_ros or ccny_rgbd.
If you want to stick with mono, maybe PTAM suits more your needs? It does not give you metric results (the scaling factor for motions is unknown) but should work better for arbitrary motions.
I print out the numbers of matches in source code. They look fine. I tried translational movement, but just like I said, the position is around zero and the data is more like noise. And my goal is actually get the velocity of the camera. I just tried PTAM, and I have trouble to calibrate with it
Another thing is, in the tutorial, the frame relationships are world -> odom -> link_base -> camera, but I don't specify the world frame. Is that ok? And I use tf_echo, I found there is no transformation between any frame and odom has no parent frame. Any suggestion about that?
If you have no base_link, just set the parameter ~base_link_frame_id of the odometer to the frame_id that is in your image messages. You should then see tf's published from /odom to this same frame_id. Is your camera well calibrated? You have to use rectified images as input for mono_odometer.
Asked: 2013-06-16 10:24:31 -0500
Seen: 607 times
Last updated: Jun 17 '13
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