Long Hoang's profile - activity

@mister_kay I used the original PTAM code, since ethzasl_ptam somehow have a GUI bug on my machine. You can find the PTAM code here: http://www.robots.ox.ac.uk/~gk/PTAM/

You still have to "convert" the result of the calibration, into a ros config file, that I can do for you if needed.

I am building from source with an isolated catkin workspace. I wonder why it throws "not a catkin package", although catkin_make_isolated is supposed to build plain cmake projects, too.

-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Python version: 2.7
-- Using Debian Python package layout
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /ws/catkin/build_isolated/eigen_conversions/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- catkin 0.5.88
CMake Error at /ws/catkin/src/catkin/cmake/catkin_package.cmake:176 (message):
  catkin_package() CATKIN_DEPENDS on 'orocos_kdl', which has been found in
  '/ws/catkin/build_isolated/orocos_kdl/devel/orocos_kdl-config.cmake', but
  it is not a catkin package
Call Stack (most recent call first):


  /ws/catkin/src/catkin/cmake/catkin_package.cmake:98 (_catkin_package)
  CMakeLists.txt:10 (catkin_package)


-- Configuring incomplete, errors occurred!
See also "/ws/catkin/build_isolated/eigen_conversions/CMakeFiles/CMakeOutput.log".
See also "/ws/catkin/build_isolated/eigen_conversions/CMakeFiles/CMakeError.log".
make: *** [cmake_check_build_system] Error 1
<== Failed to process package 'eigen_conversions': 
  Command '/ws/catkin/devel_isolated/geometry_msgs/env.sh make cmake_check_build_system' returned non-zero exit status 2

Thanks. I got it! I just needed the common_msgs package: http://wiki.ros.org/sensor_msgs

I have an isolated catkin_workspace running Hydro (build from source) on an Ubuntu Arm 14.04 running. Now I want to set up opencv support, so I pulled the 'vision_opencv' packages (groovy-devel branch) and did a catkin_make_isolated. Then I got this error:

==> Processing catkin package: 'image_geometry'
==> Building with env: '/ws/catkin/devel_isolated/cpp_common/env.sh'
==> cmake /ws/catkin/src/vision_opencv/image_geometry -DCATKIN_DEVEL_PREFIX=/ws/catkin/devel_isolated/image_geometry -DCMAKE_INSTALL_PREFIX=/ws/catkin/install_isolated in '/ws/catkin/build_isolated/image_geometry'
-- Using CATKIN_DEVEL_PREFIX: /ws/catkin/devel_isolated/image_geometry
-- Using CMAKE_PREFIX_PATH: /ws/catkin/devel_isolated/cpp_common;/ws/catkin/devel_isolated/console_bridge;/ws/catkin/devel_isolated/cmake_modules;/ws/catkin/devel_isolated/genpy;/ws/catkin/devel_isolated/genlisp;/ws/catkin/devel_isolated/gencpp;/ws/catkin/devel_isolated/genmsg;/ws/catkin/devel_isolated/catkin;/ws/catkin/install_isolated
-- This workspace overlays: /ws/catkin/devel_isolated/cpp_common;/ws/catkin/devel_isolated/cmake_modules;/ws/catkin/devel_isolated/genpy;/ws/catkin/devel_isolated/genlisp;/ws/catkin/devel_isolated/gencpp;/ws/catkin/devel_isolated/genmsg;/ws/catkin/devel_isolated/catkin;/ws/catkin/install_isolated
-- Using PYTHON_EXECUTABLE: /usr/bin/python
-- Python version: 2.7
-- Using Debian Python package layout
-- Using CATKIN_ENABLE_TESTING: ON
-- Call enable_testing()
-- Using CATKIN_TEST_RESULTS_DIR: /ws/catkin/build_isolated/image_geometry/test_results
-- Found gtest sources under '/usr/src/gtest': gtests will be built
-- catkin 0.5.88
CMake Error at /ws/catkin/install_isolated/share/catkin/cmake/catkinConfig.cmake:75 (find_package):
  Could not find a package configuration file provided by "sensor_msgs" with
  any of the following names:

    sensor_msgsConfig.cmake
    sensor_msgs-config.cmake

  Add the installation prefix of "sensor_msgs" to CMAKE_PREFIX_PATH or set
  "sensor_msgs_DIR" to a directory containing one of the above files.  If
  "sensor_msgs" provides a separate development package or SDK, be sure it
  has been installed.
Call Stack (most recent call first):
  CMakeLists.txt:4 (find_package)


-- Configuring incomplete, errors occurred!
See also "/ws/catkin/build_isolated/image_geometry/CMakeFiles/CMakeOutput.log".
See also "/ws/catkin/build_isolated/image_geometry/CMakeFiles/CMakeError.log".
<== Failed to process package 'image_geometry': 
  Command '/ws/catkin/devel_isolated/cpp_common/env.sh cmake /ws/catkin/src/vision_opencv/image_geometry -DCATKIN_DEVEL_PREFIX=/ws/catkin/devel_isolated/image_geometry -DCMAKE_INSTALL_PREFIX=/ws/catkin/install_isolated' returned non-zero exit status 1

Reproduce this error by running:
==> cd /ws/catkin/build_isolated/image_geometry && /ws/catkin/devel_isolated/cpp_common/env.sh cmake /ws/catkin/src/vision_opencv/image_geometry -DCATKIN_DEVEL_PREFIX=/ws/catkin/devel_isolated/image_geometry -DCMAKE_INSTALL_PREFIX=/ws/catkin/install_isolated

Command failed, exiting.

It looks like a dependency error. Maybe due to 14.04 some of the libraries are not compatible.

Any ideas?

Update

Here is a part of the CMakeError.log

CMakeFiles/cmTryCompileExec3305167895.dir/CheckSymbolExists.c.o: In function `main':
CheckSymbolExists.c:(.text+0xe): undefined reference to `pthread_create'
CheckSymbolExists.c:(.text+0x12): undefined reference to `pthread_create'
collect2: error: ld returned 1 exit status
make[1]: Leaving directory `/ws/catkin/build_isolated/image_geometry/CMakeFiles/CMakeTmp'
make[1]: *** [cmTryCompileExec3305167895] Error 1
make: *** [cmTryCompileExec3305167895/fast] Error 2

I got the source here: www.robots.ox.ac.uk/~gk/PTAM/ And this blog post helped me a lot to get it build (there is an include missing in the code..) http://hustcalm.me/blog/2013/09/27/ptam-compilation-on-linux-howto/

I tried it with Bumblebee and make sure that optimus is working, but even with that I did not see any GUI appearing.

So, finally, I just pulled the the original PTAM source code. With that build, I could run the calibration tool (with GUI) and even without using optimus.

As I don't have enough Karma.. you can find some useful Links below in the comments

What Linux Distribution are you using?

http://wiki.ros.org/ethzasl_ptam/Tutorials/camera_calibration

Thanks for your help! It wasn't the solution, but it gave me the right direction.

Indeed, there was something wrong with my .yaml calibration files. The thing is that the SVO library requires the calibration file in another format. To generate the calibration file, I used the cameracalibrator of the image_pipeline. Unfortunately, the library requires a calibration file in ATAN format. A tool to calibrate a monocular camera using this ATAN camera model, can be found below in the comments!

I hope, I can help other people who encounter the same problem!