M Aravindh's profile - activity

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2012-09-07 21:21:03 -0500	received badge	● Famous Question (source)
2011-12-27 05:42:17 -0500	received badge	● Notable Question (source)
2011-09-13 18:49:06 -0500	commented answer	Monocular Vslam I too see only the first frame. No points in the point cloud too.
2011-09-13 18:45:02 -0500	received badge	● Supporter (source)
2011-09-11 20:33:59 -0500	received badge	● Popular Question (source)
2011-09-10 23:28:02 -0500	commented answer	Monocular Vslam I tried it off the integrated camera on my laptop. The motion consisted of bumpy translation along a corridor - I was carrying the laptop by hand. I recall that the usb_cam node was not publishing proper camera info. Could this be a problem?
2011-09-10 23:21:46 -0500	commented answer	Monocular Vslam Regarding the assertion error: I too was initially getting this assertion. The nested use of "==" is the cause. Just replace the assertion with assert(frame1.pts.size() == frame1.goodPts.size()); assert(frame1.goodPts.size() == frame1.kpts.size());
2011-09-02 12:19:09 -0500	marked best answer	Monocular Vslam vslam is unsupported experimental research code, and more specifically, the monocular pose estimation only works for specific types of camera motions (i.e., will not work on a dataset with unconstrained motion). Unfortunately, there are no current plans to improve the functionality of monocular vslam. However, patches are welcome.
2011-08-31 22:13:49 -0500	received badge	● Student (source)
2011-08-21 22:42:12 -0500	received badge	● Editor (source)
2011-05-05 20:32:32 -0500	asked a question	Monocular Vslam I am unable to get vslam_system 's run_mono to work on the 3VD & Versailles Rond datasets. It says "Returning a small amount of good points: 0, minGoodPts = 30". Also after running SBA the error is of the order 10^3. "Running SFM Final error: 2074.372325" What could be going wrong? Has anyone managed to run "run_mono" on any published dataset? Sorry, I did not post additional detail last time. I am running a Ubuntu 10.10 with ROS diamondback. I installed the latest stable version of vslam stack and tried to run the monocular pipeline. The previous post was, however, from a fedora 14 system and used run_mono executable provided with the ros package vslam_stack. This time, I have compiled a small snippet of code that adds frames to an instance of VslamSystemMono using the addFrame function specified in the api. I initially encountered the same error as mentioned link:here I corrected this problem with the same fix provided yesterday by link. The monocular pipeline is however unable to find good matches. The number of inliers is ~0-4 and this is less than the minimum number of inliers(30). Also the error after running SBA is very high (~1000's). I used camera parameters - 1.2 1.2 0 0 1 Posted here is the output corresponding to two calls to "addFrame" function of VslamSystemMono class. [ INFO] [1314008351.193699104]: Added frame to Mono Vslam system called PoseEstimator2d::estimate for frames 1 and 2 Number of points: 92, number of matches: 100 extractPnPData: frame1.pts.size() = 92 extractPnPData: good points 0 Running SFM Final error: 33044.761933 Dumping SFM returned r 3.128635 -0.279981 -0.019429 Dumping SFM return T 267.161316 3770.465820 9.712806 The number of epipolar inliers: 53 53 points before filtering 35 points left after filtering sba got 35 points Node projection matrix 1.2 0 0 -0 0 1.2 0 -0 0 0 1 -0 Node projection matrix 1.18084 -0.213058 -0.0148276 320.594 -0.213064 -1.18093 0.000851121 4524.56 -0.012286 0.00149597 -0.999923 9.71281 Added 35 points, 35 tracks sba.tracks.size = 35 costProj done sba.tracks.size = 35 costProj done Errors after sba initialization: 168.142901 896.277610 [SBAsys] Cameras: 2 Points: 35 Projections: 70 Hessian elements: 105 [SBAsys] Average 2 projections per track and 35 projections per camera [SBAsys] Checking camera order in projections...ok [SBAsys] Number of invalid projections: 0 [SBAsys] Number of null tracks: 0 Number of single tracks: 0 Number of double tracks: 35 [SBAsys] Number of disconnected cameras: 0 [SBAsys] Number of cameras with <5 projs: 0 [SBAsys] Number of camera connections: 0 which is 0 connections per camera and 50 percent matrix fill [SBAsys] Min connection points: 1000000 Max connection points: 0 Average connection points: -nan [SBAsys] Total connection projections: 0 [SBAsys] Connections with less than 5 points: 0 10 pts: 0 20 pts: 0 50 pts: 0 sba pointer: 0xbfc1d35c Removed 22 projections > 2 pixels ... (more)