necro's profile - activity

Hello,

I'm trying to make 3D map of my office with XtionPRO Live, the biggest problem i met so far is dealing with transparent/aborbing objects etc. I tried to avoid them but they still reflects (windows, glass doors) and i got random erros on my map (like inclined in the middle of room). Other things like glasses or bottles are hard to avoid. I couldn't find any solution and it's seems to be impossible to solve problem due to Xtion sensor is using IR.
The only thing i found is publication about combining two Xtions ( http://www.cs.cornell.edu/~hema/rgbd-... ). I'm new to RoS/mapping and publication I found is too complex for me to implementation. I understand main assumption but I'm not sure how to prepare it and use with RTAB-map.
I am able to get second Xtion/Kinect but how should i calibrate them? Earlier i used ( http://wiki.ros.org/action/show/openn... ) but in that way i can pass mono calibration for sensors separately, how can i combine them? Is there any way to achieve goal with available packages? Is there any other solutions to deal with objects like that in RTAB-map?

Thanks for answers.

To make sure here is my configuration http://pastebin.com/AR3zn1Cj . I changed FLANN to Linear (KdTree not available) How I am able to load it to standalone app?

Propably got it. I changed detection rate and data buffer size to 0 (infinity). Should i change something in odometry? Other thing is that i can't check FLANN KdTree (non-commercial OpenCV without SIFT/SURF i want to use BSD licenses), and last thing is that there is no 2D to 3D but 3D to 2D (PnP).

Ok, here's my record: https://drive.google.com/file/d/0BwBc...
And here is my database after running it in Rtabmap stand-alone app: https://drive.google.com/file/d/0BwBc...

I made it ;) Successfully opened database saved with rtabmap-Datarecorder. But i want to check odometry/depth for each frame, now it's scans at about 1hz when "movie" is played at 100% speed, can I slow down that record? In next comment i will put link to download my "movie" and my result.

I'm trying to re-compute my odometry but it's lost almost every step, how should i confiugurate it?
During re-computing my clouds are still "bending" at the end of hallway (i make U turn). Can i save and load parameters from file somehow without reset rtabmap? Also i can't check FLANN KdTree.

Thanks, I will check Your configuration now. I am able to record data with rtabmap-dataRecorder and then analyze it with one of algorithms? Already i got problem which says there is no graph, it's no odometry fault? How i can add graph and analyze database.

GFFT+FREAK: https://drive.google.com/file/d/0BwBc...
ORB: https://drive.google.com/file/d/0BwBc...

Tomorrow i will put those comments in question so it will be more clear for others with same problem.

Can I record with high framerate and them make GFFT+FREAK algorithm work? To make sure, algorithms use most of my CPU not GPU or RAM?
In comments there are few questions please answer as much as you can. I will make more algorithm tests but my battery is empty i need to wait for charge ;)

I'm back. I realized that using GFFT+FREAK (which i read are slow) i got 440 frames in 30 minutes which gives only 14,(6) frames per minute which is 0,2(4)FPS, with this i scanned 2 floors + stairs few times.
Next i decided to use ORB algorithm which gives me 330 frames in 6 minutes ~0,91FPS.

I want to make it this way because my laptop is slow and I'm not in hurry so my idea is to record big amount of pictures and then process them (already all is made "live" which i don't need). In short i have a lot of time and i want to process record with high accuray.

My bad. In a while I'm going for another scan. Can i record database with data recorder and then process it? Already i recorded DB but it says there is no graph when i try to make pointcloud from databaseViewer, i generated it but viewer still don't see it. How can i export pcl from Data recorder?

Also i realized that after first pass i got about 100 new pictures (IDs counter), second pass ~80, thid ~60 and so on... After 8 passes through hall i got 367 entries which give me about 45 per walk. Today first floor was ok (4passes) when staris are curved and another floor (4passes) looks bad.

Clouds are saved in database only if I download them all from cache? I few scans today but my database files are very small... Now I'm in office i looked around, downloaded clouds and my database is much bigger.

I can't help You anymore, sorry but I don't have any robot ;)
Please marked answer as solved if it helped You so others will find solution easier ;)

Hello,

I was trying to map hallway and passed it twice, during mapping i got almost zero loop closures and my second pass is seen under another angle. Result is that i got two connected hallways: http://i.imgur.com/yJkODMn.png .
I'm using Xtion Live Pro with configuration:

  <param name="Kp/DetectorStrategy" type="string" value="5"/> <!-- GFFT+FREAK -->
  <param name="Kp/MaxDepth" type="string" value="3.5"/> <!-- Max distance  -->
  <param name="Vis/MaxDepth" type="string" value="3.5"/>
  <param name="Vis/MinDepth" type="string" value="0.8"/> <!-- Min distance -->
  <param name="Kp/MinDepth" type="string" value="0.8"/>
  <param name="Kp/NNStrategy" type="string" value="3"/> <!-- BruteForce -->
  <param name="Vis/CorNNType" type="string" value="3"/> <!-- BruteForce -->

Do you have any ideas how i can get better results? Also I'm not sure about those Brute Forces. I decided to use GFFT+FREAK because i read they give good results, should I try another algorithm?

Thanks for answers.

[EDIT]
I realized that using GFFT+FREAK (which i read are slow) i got 440 frames in 30 minutes which gives only 14,(6) frames per minute which is 0,2(4)FPS, with this i scanned 2 floors + stairs few times. Next i decided to use ORB algorithm which gives me 330 frames in 6 minutes ~0,91FPS.

Can I record with high framerate and them make GFFT+FREAK algorithm work? To make sure, algorithms use most of my CPU not GPU or RAM? In comments there are few questions please answer as much as you can. I will make more algorithm tests but my battery is empty i need to wait for charge ;)

Found RTAB-Map built without its GUI library. Node rtabmapviz will not be built! That error means there is a problem with Qt or You didn't built rtabmap. You need to built rtabmap from git source and then build rtabmap_ros and put it in catkin.
http://pastebin.com/KSQHp4Bd few days ago worked,

Have you tried building from source? First: https://github.com/introlab/rtabmap Next: https://github.com/introlab/rtabmap_ros

Remember to delete: sudo apt-get remove ros-indigo-rtabmap.
On github etc. packages are for "kinetic" remember to replace all "kinetic" to "indigo".

Hello,

I'm also new to RoS and mapping, I was using XtionPRO but it works in the same way like kinect sensor. I recommend You to use RTAB-Map (it support assembling robot equipment) package https://github.com/introlab/rtabmap and https://github.com/introlab/rtabmap_ros . I used it and it works well, the problem I met was transparent/absorbing surfaces but It's kinect IR problem, not package. Other package i found usable could be https://github.com/ccny-ros-pkg/ccny_... It's older than RTAB-Map and seems dead when RTAB-Map author is still active and helpful on forums ;)
I never used CCNY because i was trying to install it on kinetic and it's not compatible.
RTAB-Map works 100% well on Ubuntu 14.04 and RoS Indigo, when using RoS Kinetic Kame i got little problems because sometimes after export package crashed, I'm not sure where is the problem because my laptop is little old Dell ;) Additionally there is a lot of tutorials and tips (from how to install RTAB-Map to how to configure Your own robot with equipment) https://github.com/introlab/rtabmap/wiki . After successful instalation i recommend You: https://github.com/introlab/rtabmap/w... . Also on http://wiki.ros.org/rtabmap_ros are a lot of informations.
There is one more package that seems to be alive and effective: https://github.com/mp3guy/Kintinuous I was trying to use but it requires CUDA >= 7.0 which my laptop doesn't support.

Best regards.

Using ZED Depth Viewer with this tool I could obtain pointclouds straight from the camera and it's waved too. Other thing is that I can see only one cloud, because tool ZEDfu for mapping is still unreleased for Linux. I will try to check it under Windows and see if assembling will straighten image.

Other thing is that my clouds are "waved". My ZED is uncalibrated in ROS but i read that it's pre-calibrated and I don't need to do anything. Here is my screenshot:
http://i.imgur.com/Q6Fz9on.png
The wall on right isn't straight. Does that camera need more clouds to give depth?

So what should i do? Without line from Your tutorial i got:

odometry: Could not get transform from camera_link to /zed_tracked_frame (stamp=1469541052.943110) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)!

After running your line i can successfully see rtabmap gui.