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2013-02-27 21:09:55 -0500 commented answer Publish an length unknown vector message on a topic

I followed this way to create a message containing an array with unknown size.

2013-02-27 21:09:54 -0500 commented answer Publish an length unknown vector message on a topic

I followed this way to create a message containing an array with unknown size.

But when I assigned some value to the array in the program and publish, it gave "Segmentation fault (core dumped)" when running.

Should I have to declare the size of the array in the program? How can it be done?

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2013-02-14 18:07:11 -0500 commented answer rotation angles in fovis odometry

Follow your assumption of axis, I want the yaw angle.

Actually, there is description about the axis in fovis: +Z pointing along the camera look vector, +X to the right, and +Y down. But there is no description about the angles.

2013-02-14 17:59:48 -0500 commented answer rotation angles in fovis odometry

I am not actually using fovis_ros wrapper. I found your quesetion about making the fovis work with kinect. See if my answer can help you at http://answers.ros.org/question/54148/fovis-fatal-error-linuxcompilerh-no-such-file-or-directory/

2013-02-14 17:52:51 -0500 commented answer Fovis: fatal error: linux/compiler.h: No such file or directory

The fovis source I downloaded is from https://code.google.com/p/fovis/ with this command " git clone https://code.google.com/p/fovis/"

2013-02-14 17:50:16 -0500 answered a question Fovis: fatal error: linux/compiler.h: No such file or directory

I made the non-ROS-package version of Fovis as a ROS package that works with kinect. I show you what I have done:

-Create a ROS package (I also made the package to be an eclipse project). Inside the package, add 2 directories: /fovis and /src.

-Download the fovis library wherever you want.

-Copy the files from fovis source in /fovis/libfovis/libfovis (excluded the cmakelist inside), place them into /your_package/fovis

-Actually, there is a Kinect example in fovis source, which is in /fovis/libfovis/examples/fv-example-openni. Copy main.cpp, data_capture.cpp and depth_image.cpp into /your_package/src .

-Add these lines into cmakelist file in the package.

include_directories(/usr/include/openni)

rosbuild_add_executable(ros_frame src/ros_frame.cpp src/data_capture.cpp fovis/depth_image.cpp fovis/fast.cpp fovis/feature_matcher.cpp fovis/frame.cpp fovis/gauss_pyramid.c fovis/grid_filter.cpp fovis/initial_homography_estimation.cpp fovis/intensity_descriptor.cpp fovis/internal_utils.cpp fovis/motion_estimation.cpp fovis/normalize_image.cpp fovis/primesense_depth.cpp fovis/pyramid_level.cpp fovis/rectification.cpp fovis/refine_feature_match.cpp fovis/refine_motion_estimate.cpp fovis/stereo_depth.cpp fovis/stereo_frame.cpp fovis/stereo_rectify.cpp fovis/tictoc.cpp fovis/visual_odometry.cpp  )

find_package(Eigen REQUIRED)

include_directories(${Eigen_INCLUDE_DIRS})

target_link_libraries(ros_frame OpenNI)

-Add these lines into manifest.xml in the package.

<rosdep name="eigen" />
<rosdep name="openni-dev" />
<rosdep name="ps-engine" />

<rosdep name="eigen"/><rosdep name="openni-dev"/><rosdep name="ps-engine"/>

-Use "rosdep install your_package" command to install the needed libraries.

-Connect the kinect and run the package in eclispe.

I dont know if there are some easier ways, but it works for me.

2013-02-14 06:56:55 -0500 commented question rotation angles in fovis odometry

There is the example program I ran: http://fovis.googlecode.com/git/libfovis/examples/fv-example-openni/ . The codes I quoted is in main.cpp

2013-02-14 06:51:54 -0500 asked a question rotation angles in fovis odometry

I am going to use fovis to do visual odometry. The obtained geometry information will be used for 2D mapping.

For 2D mapping, what I want is the horizontal rotation, ie the rotation along y-axis(downward). In fovis, I obtain the 3d rotation, but I am confused.

I ran the example program in libfovis with kinect, these codes return the odometry information: Eigen::Vector3d xyz = cam_to_local.translation(); Eigen::Vector3d rpy = cam_to_local.rotation().eulerAngles(0, 1, 2);

I am not sure about the type of rotation of rpy is. As I tested with kinect, I guess rpy(1) gives me the horizontal rotation angle, but its range is just +/- 90 degrees. What kind of transformation I need if I want the range to be +/- 180 degrees? Thanks.

2013-02-03 04:36:38 -0500 commented answer The updated rgbdslam does not match with g2o?

I have done these already, uninstall the ros-fuerte-libg2o library, use g2o package, and rebuild. but the problem still exits.

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2013-01-30 21:10:00 -0500 answered a question The updated rgbdslam does not match with g2o?

I just installed the newest rgbdslam and g2o package. Same as you, I got lots of errors. I resume rgbdslam according to the patch. The problems are almost fixed except one "symbol lookup error": /fuerte_workspace/rgbdslam_freiburg/rgbdslam/lib/libgicp.so: undefined symbol: gsl_multimin_fdfminimizer_vector_bfgs2

I dont know how to fix it.

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2013-01-24 08:07:08 -0500 commented question How to add libraries in Eclipse+ROS

Here are the setup steps I followed: http://www.ros.org/wiki/IDEs

2013-01-24 08:05:15 -0500 asked a question How to add libraries in Eclipse+ROS

Hi all,

I am a newer for ROS. I want to compile ROS programs with Eclipse, that includes libraries like openCV, openNI.

Without ROS, I just need to add the library files and paths under linux gcc compiler, which can be set in eclipse project properties.

As I want to publish the computational results to control an arduino board via ROS publisher, I setup the eclipse program with ROS

but I dont know how to add external libraries and setup the compiler, here are what the program needs:

Path:

/usr/lib
/usr/local/lib

lib:

-OpenNI
-XnVNite_1_5_2
-glut
-GLEW
-opencv_core
-opencv_highgui
-opencv_imgproc
-opencv_gpu
-opencv_ml
-opencv_video
-opencv_features2d
-opencv_calib3d
-opencv_objdetect
-opencv_contrib
-opencv_legacy
-opencv_flann

I cant find related tutorials, how can I compile the program successfully? Thanks a lot