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2011-05-24 15:55:58 -0500	marked best answer	ar_kinect not finding published point cloud data OK, I've finally had time to sit down and work on this, and this issue should be fixed. In addition to testing on a real Kinect, I spent a bit of time doing some major speed up work. The newly committed version (r263) now does the following: ignores empty clouds subscribes only to the cloud -- uses pcl functions to create the image, which will fix issues with synchronization no longer computes normals (which was slow), we now use PCL functions to estimate the transformation based on the corner points (which also appears to be more accurate than just computing the normal of the center). Please let me know if you encounter any issues.
2011-05-18 01:23:00 -0500	received badge	● Editor (source)
2011-05-18 01:17:45 -0500	answered a question	ar_kinect not finding published point cloud data Hi fergs, thanks for the patch...it seemed to get a little further. In fact, I believe it's successfully spotting the fiducial and then crashing when the fiducial is spotted. After successfully subscribing to image and point cloud data, ar_kinect patiently waits until I hold up the #9 fiducial marker. At that time, I receive the following in the terminal: ar_kinect-1 process has died pid 24412, exit code -11 . log files: /home/lebowski/.ros/log/b9ca902c-814c-11e0-8fce-001de075d661/ar_kinect-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete The log file reflects the following: roscpp_internal 2011-05-18 06:45:53,684 thread 0xb69347c0 : DEBUG UDPROS server listening on port 37150 roscpp_internal 2011-05-18 06:45:53,693 thread 0xb69347c0 : DEBUG Started node /ar_kinect , pid 24412 , bound on suijuris , xmlrpc port 57285 , tcpros port 60798 , logging to /home/lebowski/.ros/log/b9ca902c-814c-11e0-8fce-001de075d661/ar_kinect-1.log , using real time roscpp_internal 2011-05-18 06:45:53,695 thread 0xb69347c0 : DEBUG XML-RPC call searchParam returned an error (-1): Cannot find parameter tf_prefix in an upwards search roscpp_internal 2011-05-18 06:45:53,981 thread 0xb69347c0 : DEBUG XML-RPC call getParam returned an error (-1): Parameter /ar_kinect/publish_tf is not set ros.ar_kinect 2011-05-18 06:45:53,981 thread 0xb69347c0 : INFO Publish transforms: 1 roscpp_internal 2011-05-18 06:45:53,982 thread 0xb69347c0 : DEBUG XML-RPC call getParam returned an error (-1): Parameter /ar_kinect/publish_visual_markers is not set ros.ar_kinect 2011-05-18 06:45:53,983 thread 0xb69347c0 : INFO Publish visual markers: 1 ros.ar_kinect 2011-05-18 06:45:53,984 thread 0xb69347c0 : INFO Threshold: 100 roscpp_internal 2011-05-18 06:45:53,984 thread 0xb6933b70 : DEBUG Accepted connection on socket 7 , new socket 11 roscpp_internal 2011-05-18 06:45:53,984 thread 0xb6933b70 : DEBUG TCPROS received a connection from 127.0.1.1:59204 roscpp_internal 2011-05-18 06:45:53,985 thread 0xb6933b70 : DEBUG Connection: Creating TransportSubscriberLink for topic /rosout connected to callerid=/rosout address=TCPROS connection to 127.0.1.1:59204 on socket 11 ros.ar_kinect 2011-05-18 06:45:53,989 thread 0xb69347c0 : INFO Marker Pattern Filename: /home/lebowski/suijuris/ros_packages/diamondback/albany_vision/ar_kinect/data/objects_kinect ros.ar_kinect 2011-05-18 06:45:53,991 thread 0xb69347c0 : INFO Marker Data Directory: /home/lebowski/suijuris/ros_packages/diamondback/ccny-ros-pkg/ccny_vision/ar_pose ros.ar_kinect 2011-05-18 06:45:53,991 thread 0xb69347c0 : INFO Subscribing to info topic roscpp_internal 2011-05-18 06:45:53,992 thread 0xb69347c0 : DEBUG Publisher update for /camera/rgb/camera_info : http://suijuris:35790/, already have these connections: roscpp_internal 2011-05-18 06:45:53,992 thread 0xb69347c0 : DEBUG Began asynchronous xmlrpc connection to suijuris:35790 roscpp_internal 2011-05-18 06:45:54,185 thread 0xb6132b70 : DEBUG Connecting via tcpros to topic /camera/rgb/camera_info at host suijuris:45820 roscpp_internal 2011-05-18 06:45:54,185 thread 0xb6132b70 : DEBUG Resolved publisher host suijuris to 127.0.1.1 for socket 12 roscpp_internal 2011-05-18 06:45:54,186 thread 0xb6132b70 : DEBUG Async connect() in progress to suijuris:45820 on socket 12 roscpp_internal 2011-05-18 06:45:54,186 thread 0xb6132b70 : DEBUG Connected to publisher of topic /camera/rgb/camera_info ... (more)
2011-05-17 15:13:37 -0500	asked a question	ar_kinect not finding published point cloud data Hello, I'm trying to use ar_kinect ( http://www.ros.org/wiki/ar_kinect ) to report pose information of a fiducial, visual marker. I'm taking the following steps to run ar_kinect: Open terminal and run: roscore Open terminal and run the following to start Kinect: roslaunch openni_camera openni_node.launch Open terminal and run the following so Kinect will begin reporting information on /camera/rgb/camera_info (which is needed by ar_kinect): rostopic hz /camera/rgb/image_mono Open terminal and run: roslaunch ar_kinect ar_kinect.launch After doing so, everything seems to start up correctly until it tries to subscribe to image and point cloud topics, as follows: ... SIZE = 640, 480 Distortion factor = 0.000000 0.000000 -0.000000 1.000000 525.00000 0.00000 319.50000 0.00000 0.00000 525.00000 239.50000 0.00000 0.00000 0.00000 1.00000 0.00000 header: seq: 0 stamp: 0.000000000 frame_id: points[]: 0 width: 0 height: 0 sensor_origin_: 0 0 0 sensor_orientation_: 0 0 0 1 is_dense: 1 -1.205960 -0.903880 2.478000 [ar_kinect-1] process has died [pid 21130, exit code -11]. log files: /home/lebowski/.ros/log/c3fd81c4-80f9-11e0-835e-001de075d661/ar_kinect-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done Interestingly, it looks like it's picking up an empty point cloud based on the dump info shown above. But if I open a terminal and run the following, I see plenty of Kinect data being published on both topics: rostopic echo /camera/rgb/points rostopic echo /camera/rgb/image_color Any thoughts? Thank you very much! Billy McCafferty http://www.sharprobotica.com/
2011-05-16 13:21:41 -0500	answered a question	Working package for fiducial pose recognition? Thanks Ivan, that'll work great!
2011-05-16 13:21:29 -0500	marked best answer	Working package for fiducial pose recognition? Hi, I'm not sure this is what you need, but have you looked at ar_pose?
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2011-05-06 18:26:33 -0500	asked a question	Working package for fiducial pose recognition? Hi all, I've been trying to compile the fiducial package ( http://www.ros.org/browse/details.php... ) without success due to a compilation error in its dependency, opencv_candidate ( http://www.ros.org/browse/details.php... ). (I've included the rosmake output below.) I'm on Ubuntu 10.04 using Diamondback. Should I be using another package (or other option) for fiducial pose recognition? Has anyone else had luck compiling the fiducial package, and its opencv_candidate dependency? Thank you, Billy McCafferty http://www.sharprobotica.com/ rosmake opencv_candidate: [rosmake-0] Starting >>> opencv_candidate [ make ] [ rosmake ] Last 40 linesencv_candidate: 1.3 sec ] [ 1 Active 28/29 Complete ] {------------------------------------------------------------------------------- /home/lebowski/suijuris/ros/diamondback/stacks/vision_bleeding/opencv_candidate/src/datamatrix.cpp:398: error: expected ‘;’ before ‘crmag’ /home/lebowski/suijuris/ros/diamondback/stacks/vision_bleeding/opencv_candidate/src/datamatrix.cpp:399: error: expected ‘;’ before ‘ncx’ /home/lebowski/suijuris/ros/diamondback/stacks/vision_bleeding/opencv_candidate/src/datamatrix.cpp:400: error: expected ‘;’ before ‘ncy’ /home/lebowski/suijuris/ros/diamondback/stacks/vision_bleeding/opencv_candidate/src/datamatrix.cpp:402: error: ‘v’ was not declared in this scope /home/lebowski/suijuris/ros/diamondback/stacks/vision_bleeding/opencv_candidate/src/datamatrix.cpp:402: error: ISO C++ forbids declaration of ‘type name’ with no type /home/lebowski/suijuris/ros/diamondback/stacks/vision_bleeding/opencv_candidate/src/datamatrix.cpp:402: error: ISO C++ forbids declaration of ‘type name’ with no type /home/lebowski/suijuris/ros/diamondback/stacks/vision_bleeding/opencv_candidate/src/datamatrix.cpp:402: error: expected primary-expression before ‘const’ /home/lebowski/suijuris/ros/diamondback/stacks/vision_bleeding/opencv_candidate/src/datamatrix.cpp:402: error: expected ‘)’ before ‘const’ /home/lebowski/suijuris/ros/diamondback/stacks/vision_bleeding/opencv_candidate/src/datamatrix.cpp:403: error: expected ‘;’ before ‘ccyxyxA’ /home/lebowski/suijuris/ros/diamondback/stacks/vision_bleeding/opencv_candidate/src/datamatrix.cpp:404: error: expected ‘;’ before ‘ccyxyxB’ /home/lebowski/suijuris/ros/diamondback/stacks/vision_bleeding/opencv_candidate/src/datamatrix.cpp:405: error: expected ‘;’ before ‘ccx’ /home/lebowski/suijuris/ros/diamondback/stacks/vision_bleeding/opencv_candidate/src/datamatrix.cpp:406: error: expected ‘;’ before ‘ccy’ /home/lebowski/suijuris/ros/diamondback/stacks/vision_bleeding/opencv_candidate/src/datamatrix.cpp:407: error: expected ‘;’ before ‘ccmag’ /home/lebowski/suijuris/ros/diamondback/stacks/vision_bleeding/opencv_candidate/src/datamatrix.cpp:408: error: expected ‘;’ before ‘ccrmag’ /home/lebowski/suijuris/ros/diamondback/stacks/vision_bleeding/opencv_candidate/src/datamatrix.cpp:409: error: expected ‘;’ before ‘nccx’ /home/lebowski/suijuris/ros/diamondback/stacks/vision_bleeding/opencv_candidate/src/datamatrix.cpp:410: error: expected ‘;’ before ‘nccy’ /home/lebowski/suijuris/ros/diamondback/stacks/vision_bleeding/opencv_candidate/src/datamatrix.cpp:412: error: expected ‘;’ before ‘dot’ /home/lebowski/suijuris/ros/diamondback/stacks/vision_bleeding/opencv_candidate/src/datamatrix.cpp:414: error: expected ‘;’ before ‘iscand’ /home/lebowski/suijuris/ros/diamondback/stacks/vision_bleeding/opencv_candidate/src/datamatrix.cpp:416: error: ‘iscand’ was not declared in this scope /home/lebowski/suijuris/ros/diamondback/stacks/vision_bleeding/opencv_candidate/src/datamatrix.cpp:416: error: ‘cmag’ was not declared in this scope /home/lebowski/suijuris/ros/diamondback/stacks/vision_bleeding/opencv_candidate/src/datamatrix.cpp:416: error: ‘ccmag’ was not declared in this scope /home/lebowski/suijuris/ros/diamondback/stacks/vision_bleeding/opencv_candidate/src/datamatrix.cpp:416: error: ‘_mm_min_ps’ was not declared in this scope /home/lebowski/suijuris/ros/diamondback/stacks/vision_bleeding/opencv_candidate/src/datamatrix ... (more)