xiqing's profile - activity

Hi,

I want to get the keyframe id in relocalization(). Now I know in the Tracking::Relocalization(), we can get the keyframe " vector vpCandidateKFs = mpKeyFrameDB->DetectRelocalizationCandidates(&mCurrentFrame);".

Then define " for (auto cf: vpCandidateKFs)", I can get "cf->mnId". Then I find that in the map i have only197 keyframes, but the cf->mnId maybe 800 or any other numbers bigger than 197. Why?? Is it related to the DBow2?? Buy the way i create a map first and then reload it using for location.

Thank you very much for your answer!!!

Thank you very much! Now I have the message geometry_msgs/PoseStamped. But the kobuki need geometry_msgs/Twist. The package move_base has the way to tranform between them. But I don't have sensors and just want to control kobuki. (poor code reading for me..)Do you know how to transform?

hi,

i want to control the kobuki without sensors. i only know how to control it using keyboard and set goals using 2D Nav Goal in rviz. Now i have the goal msg "x,y,z," and "quaternion" one by one. But i don't know how to send it and receive it. Do I need to write a lot of code ？ Do you have any idea or dose there have a tutorial about this? Thank you very much!

Is that mean that i couldn't get the distance(m) if using monocular approach? What about the stereo algorithm??

Hi,

I want to get the map scale form the map which is build by ORB_slam2. Example, there are two camera center kp1(x1-coordinate,y2-coordinate) , kp2(x2-coordinate,y2-coordinate), then i will know the distance between kp1 and kp2( in coordinate). But what's the real distance(m)(in the real word)? i think i need to get the scale between coordinate and meter. But i don't know where is the map scale in the ORB_slam2 code(now I am a rookie ...). Could you tell me how to get the real map?? thank you very much!!

hi :

i want to use the orbslam2 to do an experiment about monocular. In the system there are some examples about how to use image sequences to do the experiment. But i want to do it with a real-time camera, witch means that don't need to get the image sequences first but try to get it from the camera in the real-time. So what should i do?

thank you very much! your answer is very important!

hi:

i want to save a map in the system of orbslam2. But after i run the launch and the map is build, then the window is closed. So i can't get the map saved. I want to know whether the system have the functions of save the map.Can you tell me how to get the map saved？

hello,

I want to learn the stereo_mapping method of the Rtabmap_ros in the http://wiki.ros.org/rtabmap website . But I just learned that it is a RGB-D Graph SLAM approach based on a global Bayesian loop closure detector. I want to know what's the specical mechod of slam ,such as KF-SLAM 、PF-SLAM or Graph optimization？And are there any papers about that slam method?

Thank you very much for your help!!!

hi,

I have achieved the mapping function accroding to http://wiki.ros.org/rtabmap_ros/Tutor... . Next i want to learn ros/Tutorials/StereoOutdoorNavigation ( http://wiki.ros.org/rtabmap_ros/Tutor... use my own bumblebee2 camera to do the navigation. I found a launch file az3_mapping_robot_stereo_nav.launch(https://github.com/introlab/rtabmap_ros/blob/master/launch/azimut3/az3_mapping_robot_stereo_nav.launch). There are a few lines of code in the launch file:

     <!-- AZIMUT 3 bringup: launch motors and TF --> 
<include file="$(find az3_bringup)/az3_standalone.launch"/> 
<node name="joy" pkg="joy" type="joy_node"/> 
    <group ns="teleop"> 
    <remap from="joy" to="/joy"/> 
    <node name="teleop" pkg="nodelet" type="nodelet" args="standalone azimut_tools/Teleop"/> 
    <param name="cmd_eta/abtr_priority" value="50"/> 
</group>

But I find that i don't have the az3_standalone.launch file which is in the seconde line. Anyone know that what's the role of the launch file ?And where is it? Thank you very much!

hi,

when i use rtabmap_ros and bumblebee2 to build a 3d map, I found that my map is not very good as the stereo-mapping- outdoor-demo.For example, when i try to build a 3d point map for a table , I found that in the middle of the table there has a hole and it was not smooth just like missing a block of the table.

The launch file i used were stereo_mapping.launch and bumblebee.launch and all of these is from rtabmap_ros file.

So ,what should i do to change the result and have a better result?? I'm so appreciate for your answer !!Your answer is very important!! Thank you very much!

Thank you so much!sorry,I don't know how to upload my pictures. I have tried to make the camera level , but the image is also tilted.

hello,

After I used rtabmap_ros for a slam, I found that my image of pointcloud is tilted. For example, in the real word the curtain is upright，but in the rviz it is tilted . Is that because of my camera calibration? But when I calibrate another time it has the same situation. what should I do?? I really hope your help!

Thank you very much !!!