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editing launch file mono_demo.launch

i am trying to run the mono odometer from the viso2 package (https://github.com/srv/viso2/blob/groovy/viso2_ros/launch/mono_demo.launch)

i would to know how do i changed the bagfiles from stereo to mono

<launch>

<param name="/use_sim_time" value="true"/>
    <node ns="/" name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc" clear_params="true" output="screen">

<!-- Run the ROS package stereo_image_proc -->

    <node pkg="image_proc" type="image_proc" name="image_proc"/>
            <remap from="image_raw" to="/stereo_forward/right/image_raw" />
            <remap from="camera_info" to="/stereo_forward/right/camera_info" />


            <param name="queue_size" value="200000" />
            <param name="disparity_range" value="64" />



<!-- Run the viso2_ros package -->
<node pkg="viso2_ros" type="mono_odometer" name="mono_odometer" output="screen">


    <!-- Matcher params -->
    <param name="nms_n" value="3" />
    <param name="nms_tau" value="50" />
    <param name="match_binsize" value="50" />
    <param name="match_radius" value="200" />
    <param name="match_disp_tolerance" value="2" />
    <param name="outlier_disp_tolerance" value="5" />
    <param name="outlier_flow_tolerance" value="5" />
    <param name="multi_stage" value="1" />
    <param name="half_resolution" value="1" />
    <param name="refinement" value="1" />

    <!-- Bucketing params -->
    <param name="max_features" value="2" />
    <param name="bucket_width" value="50" />
    <param name="bucket_height" value="50" />

    <!-- Mono params -->
    <param name="camera_height" value="1.0" />
    <param name="camera_pitch" value="0.0" />
    <param name="ransac_iters" value="2000" />
    <param name="inlier_threshold" value="1e-5" />
    <param name="motion_threshold" value="100" />
</node>

<node pkg="tf" type="static_transform_publisher" name="bla" args="0.0 0.0 0.0 0.0 0.0 -1.571 /base_link /stereo_forward_optical 50"> </node>

</launch>

After running ~/catkin_ws/src/viso2-indigo/viso2_ros/launch$ roslaunch viso2_ros mono1.launch

vc3@vc3-M4HM87P-00:~/catkin_ws/src/viso2-indigo/viso2_ros/launch$ roslaunch viso2_ros mono1.launch ... logging to /home/vc3/.ros/log/a796c9d2-0763-11e6-b787-dc85deffe141/roslaunch-vc3-M4HM87P-00-16009.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://vc3-M4HM87P-00:36128/

SUMMARY

PARAMETERS * /disparity_range: 64 * /mono_odometer/bucket_height: 50 * /mono_odometer/bucket_width: 50 * /mono_odometer/camera_height: 1.0 * /mono_odometer/camera_pitch: 0.0 * /mono_odometer/half_resolution: 1 * /mono_odometer/inlier_threshold: 1e-5 * /mono_odometer/match_binsize: 50 * /mono_odometer/match_disp_tolerance: 2 * /mono_odometer/match_radius: 200 * /mono_odometer/max_features: 2 * /mono_odometer/motion_threshold: 100 * /mono_odometer/multi_stage: 1 * /mono_odometer/nms_n: 3 * /mono_odometer/nms_tau: 50 * /mono_odometer/outlier_disp_tolerance: 5 * /mono_odometer/outlier_flow_tolerance: 5 * /mono_odometer/ransac_iters: 2000 * /mono_odometer/refinement: 1 * /queue_size: 200000 * /rosdistro: indigo * /rosversion: 1.11.16 * /use_sim_time: True

NODES / bla (tf/static_transform_publisher) image_proc (image_proc/image_proc) mono_odometer (viso2_ros/mono_odometer)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found process[image_proc-1]: started with pid [16027] process[mono_odometer-2]: started with pid [16028] process[bla-3]: started with pid [16029] odom_frame_id = /odom base_link_frame_id = /base_link publish_tf = true invert_tf = false Image messages received: 0 CameraInfo messages received: 98 Synchronized pairs: 0 Image messages received: 0 CameraInfo messages received: 100 Synchronized pairs: 0

Can somebody help me with converting of stereo to mono launch file. Thanks for the help in advance and excuse my bad spelling/language. I give my best :-)

editing launch file mono_demo.launch

i am trying to run the mono odometer from the viso2 package (https://github.com/srv/viso2/blob/groovy/viso2_ros/launch/mono_demo.launch)

i would to know how do i changed the bagfiles from stereo to mono

<launch>

<?xml version="1.0"?>
<launch>

    <param name="/use_sim_time" value="true"/>
     <node ns="/" name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc" clear_params="true" output="screen">

 <!-- Run the ROS package stereo_image_proc -->

     <node pkg="image_proc" type="image_proc" name="image_proc"/>
             <remap from="image_raw" to="/stereo_forward/right/image_raw" />
             <remap from="camera_info" to="/stereo_forward/right/camera_info" />


             <param name="queue_size" value="200000" />
             <param name="disparity_range" value="64" />



 <!-- Run the viso2_ros package -->
 <node pkg="viso2_ros" type="mono_odometer" name="mono_odometer" output="screen">


     <!-- Matcher params -->
     <param name="nms_n" value="3" />
     <param name="nms_tau" value="50" />
     <param name="match_binsize" value="50" />
     <param name="match_radius" value="200" />
     <param name="match_disp_tolerance" value="2" />
     <param name="outlier_disp_tolerance" value="5" />
     <param name="outlier_flow_tolerance" value="5" />
     <param name="multi_stage" value="1" />
     <param name="half_resolution" value="1" />
     <param name="refinement" value="1" />

     <!-- Bucketing params -->
     <param name="max_features" value="2" />
     <param name="bucket_width" value="50" />
     <param name="bucket_height" value="50" />

     <!-- Mono params -->
     <param name="camera_height" value="1.0" />
     <param name="camera_pitch" value="0.0" />
     <param name="ransac_iters" value="2000" />
     <param name="inlier_threshold" value="1e-5" />
     <param name="motion_threshold" value="100" />
 </node>

<node pkg="tf" type="static_transform_publisher" name="bla" args="0.0 0.0 0.0 0.0 0.0 -1.571 /base_link /stereo_forward_optical 50"> </node>

</launch>

</node> </launch>

After running

~/catkin_ws/src/viso2-indigo/viso2_ros/launch$ roslaunch viso2_ros mono1.launch 

vc3@vc3-M4HM87P-00:~/catkin_ws/src/viso2-indigo/viso2_ros/launch$ roslaunch viso2_ros mono1.launch ... logging to /home/vc3/.ros/log/a796c9d2-0763-11e6-b787-dc85deffe141/roslaunch-vc3-M4HM87P-00-16009.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.

<1GB. started roslaunch server http://vc3-M4HM87P-00:36128/

SUMMARY

http://vc3-M4HM87P-00:36128/ SUMMARY ======== PARAMETERS * /disparity_range: 64 * /mono_odometer/bucket_height: 50 * /mono_odometer/bucket_width: 50 * /mono_odometer/camera_height: 1.0 * /mono_odometer/camera_pitch: 0.0 * /mono_odometer/half_resolution: 1 * /mono_odometer/inlier_threshold: 1e-5 * /mono_odometer/match_binsize: 50 * /mono_odometer/match_disp_tolerance: 2 * /mono_odometer/match_radius: 200 * /mono_odometer/max_features: 2 * /mono_odometer/motion_threshold: 100 * /mono_odometer/multi_stage: 1 * /mono_odometer/nms_n: 3 * /mono_odometer/nms_tau: 50 * /mono_odometer/outlier_disp_tolerance: 5 * /mono_odometer/outlier_flow_tolerance: 5 * /mono_odometer/ransac_iters: 2000 * /mono_odometer/refinement: 1 * /queue_size: 200000 * /rosdistro: indigo * /rosversion: 1.11.16 * /use_sim_time: True

True NODES / bla (tf/static_transform_publisher) image_proc (image_proc/image_proc) mono_odometer (viso2_ros/mono_odometer)

ROS_MASTER_URI=http://localhost:11311

(viso2_ros/mono_odometer) ROS_MASTER_URI=http://localhost:11311 core service [/rosout] found process[image_proc-1]: started with pid [16027] process[mono_odometer-2]: started with pid [16028] process[bla-3]: started with pid [16029] [ WARN] [1461212766.438703146]: mono_odometer needs rectified input images. The used image topic is 'image'. Are you sure the images are rectified? [ INFO] [1461212766.455661296]: Basic Odometer Settings: odom_frame_id = /odom base_link_frame_id = /base_link publish_tf = true invert_tf = false [ WARN] [1461212776.536035120]: [image_transport] Topics '/image' and '/stereo_forward/right/camera_info' do not appear to be synchronized. In the last 10s: Image messages received: 0 CameraInfo messages received: 98 Synchronized pairs: 0 [ WARN] [1461212786.536403426]: [image_transport] Topics '/image' and '/stereo_forward/right/camera_info' do not appear to be synchronized. In the last 10s: Image messages received: 0 CameraInfo messages received: 100 Synchronized pairs: 0

0

Can somebody help me with converting of stereo to mono launch file. Thanks for the help in advance and excuse my bad spelling/language. I give my best :-)