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Compiling object_recognition against which ROS base installation?

asked 2011-03-24 02:31:18 -0600

Julius gravatar image

Until now I have successfully compiled object_recognition against ROS diamondback installation using the following .rosinstall configuration:

- svn: {local-name: object_recognition, uri: 'https://code.ros.org/svn/wg-ros-pkg/branches/trunk_diamondback/stacks/object_recognition'}
- svn: {local-name: object_recognition_experimental, uri: 'https://code.ros.org/svn/wg-ros-pkg/branches/trunk_diamondback/stacks/object_recognition_experimental'}
- svn: {local-name: perception_pcl_addons, uri: 'https://code.ros.org/svn/ros-pkg/stacks/perception_pcl_addons/trunk'}
- svn: {local-name: vslam, uri: 'https://code.ros.org/svn/ros-pkg/stacks/vslam/trunk'}
- svn: {local-name: opencv_candidate, uri: 'https://code.ros.org/svn/wg-ros-pkg/branches/trunk_diamondback/stacks/vision_bleeding/opencv_candidate'}
- other: {local-name: /opt/ros/diamondback/ros}
- other: {local-name: /opt/ros/diamondback/stacks}

where I installed diamondback as a .deb package in Ubuntu, following these instructions. After a SVN update of object_recognition and its dependencies (except ROS Diamondback) I am running into errors when using recognizer in tod_detecting. I receive "OpenCV errors" (some assertions fail).

  • I wonder whether I am compiling the object_recognition stack against the same ROS installation and OpenCV version as the object_recognition developers?
  • Or should I compile against SVN version of ROS?
  • Is there a .rosinstall file for the object_recognition stack that relieves me of the burden to find the right dependencies for making object_recognition?

It would be helpful to have a similar setup like the object_recognition stack developers.

Background:

([ INFO] [1300976281.637313973]: LSH matching :1.66269
OpenCV Error: Assertion failed (CV_IS_MAT(objectPoints) && CV_IS_MAT(imagePoints) && CV_IS_MAT(A) && CV_IS_MAT(rvec) && CV_IS_MAT(tvec)) in cvFindExtrinsicCameraParams2, file /tmp/buildd/ros-diamondback-vision-opencv-1.4.1/debian/ros-diamondback-vision-opencv/opt/ros/diamondback/stacks/vision_opencv/opencv2/build/opencv-svn/modules/calib3d/src/calibration.cpp, line 1156)

I'd like to know whether this is regression or whether I just need to adapt my environment.

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It seems that the problem is not with the wrong OpenCV version I used, as both the recent SVN version from OpenCV and Diamondback's lead to failure.
Julius gravatar imageJulius ( 2011-03-28 01:47:50 -0600 )edit
Julius gravatar imageJulius ( 2011-03-28 03:44:51 -0600 )edit

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answered 2011-03-28 08:49:49 -0600

Vincent Rabaud gravatar image

updated 2011-03-28 09:23:06 -0600

It's a regression, revert to the version that worked for you: the code was working because it was assuming that the camera parameters were the training ones if none were given.

This was a dangerous assumption so i removed it. I did not notice it as the Kinect is giving us the data and I am working with the Kinect mostly. There is no way to input those parameters through the test file for now. We are cleaning a lot of stuff these days, and we are trying to clean the parameter files too so that should be done shortly I hope.

We are not really improving performance these days, just cleaning, so there is no point in svn up this week or next week.

Regards, Vincent

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Thanks for confirmation. Regression introduced with revision 50321. But after all, except for the cleanups, looking at the code in the recent revisions, I got the impression that 3d to 3d matching has been implemented in GuessGenerator.
Julius gravatar imageJulius ( 2011-03-28 19:33:23 -0600 )edit
I'd really like to SVN update to get the refactored version of the GuessGenerator, but it's two weeks gone and it still is an issue. I guess the camera matrix is not initialized. I'll post another comment if I get anywhere.
Julius gravatar imageJulius ( 2011-04-11 20:16:34 -0600 )edit
I found two of the related bugs, see https://code.ros.org/trac/wg-ros-pkg/ticket/5083 for a quick&dirty workaround.
Julius gravatar imageJulius ( 2011-04-11 20:58:23 -0600 )edit

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Asked: 2011-03-24 02:31:18 -0600

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Last updated: Mar 28 '11