wesleyc's profile - activity

I'm trying to check out the roboearth code but am getting stuck at the Authentication.

I saw this question which seems to be related, created an account and can login to the website, but still cannot pass the Authentication using the same login info when checking out the code.

$ svn co https://ipvs.informatik.uni-stuttgart.de/roboearth/repos/public/tags/latest roboearth
Authentication realm: <https://ipvs.informatik.uni-stuttgart.de:443> RoboEarth Repository (BV)
Password for 'wesleyc': 
Authentication realm: <https://ipvs.informatik.uni-stuttgart.de:443> RoboEarth Repository (BV)
Username: wesleyc 
Password for 'wesleyc': 
Authentication realm: <https://ipvs.informatik.uni-stuttgart.de:443> RoboEarth Repository (BV)
Username: wesleyc
Password for 'wesleyc': 
svn: OPTIONS of 'https://ipvs.informatik.uni-stuttgart.de/roboearth/repos/public/tags/latest': authorization failed: Could not authenticate to server: rejected Basic challenge (https://ipvs.informatik.uni-stuttgart.de)

Does anyone have a solution?

Thanks.

Hi,

I'm trying to calibrate an ASUS Xtion PRO LIVE following the instructions here:

http://wiki.ros.org/openni_launch/Tutorials/IntrinsicCalibration?action=show&redirect=openni_camera%2Fcalibration

After running

rosrun camera_calibration cameracalibrator.py image:=/openni/rgb/image_mono camera:=/openni/rgb --size 5x4 --square 0.0245 --no-service-check

and

rosrun camera_calibration cameracalibrator.py image:=/openni/ir/image_raw camera:=/openni/ir --size 5x4 --square 0.0245 --no-service-check

I was able to get the edges of the checkerboard to appear straight in rviz when I look at the openni/rgb/image_rect topic, and somewhat straight when I look at the opennni/ir/image_rect topic.

However, for the point cloud data coming from the openni/depth_registered/points topic, flat surfaces still appear as curved parabolic surfaces.

How do I calibrate the camera so that flat surfaces will appear flat in the point cloud data?

Thanks.

Unfortunately I've tried that and it didn't work. The call to waitForMessage returns normally. But after that when the next line does if ((after == ros::Time(0,0)) || (pc.header.stamp > after)) it causes the program to abort. No exception is being thrown by waitForMessage or pc.header.stamp.

Hi,

I'm using the waitForMessage function and can't seem to be able to find a way of detecting if the function has timed out.

Here's the code I have:

sensor_msgs::PointCloud2 pc;
pc  = *(ros::topic::waitForMessage<sensor_msgs::PointCloud2>(rgb_topic_, ros::Duration(10)));

How can I check and see if pc is valid?

If I try to read the fields of pc when it has timed out, the code exits with the following error:

calibration_executive: /usr/include/boost/smart_ptr/shared_ptr.hpp:412: boost::shared_ptr<T>::reference boost::shared_ptr<T>::operator*() const [with T = const sensor_msgs::PointCloud2_<std::allocator<void> >, boost::shared_ptr<T>::reference = const sensor_msgs::PointCloud2_<std::allocator<void> >&]: Assertion `px != 0' failed.
Aborted

By the way, the code is from the pr2_led_kinect_calib package.

Thanks.

------------------- update ------------------

Tried putting it in a try catch block but it didn't work

    try
    {
        pc  = *(ros::topic::waitForMessage<sensor_msgs::PointCloud2>(rgb_topic_, ros::Duration(10)));
        if ((after == ros::Time(0,0)) || (pc.header.stamp > after))
        {
            found = true;
        }   

    }
    catch (std::exception e)
    {
        ROS_ERROR("No point clound messages received in topic %s after waiting for %f seconds.", rgb_topic_.c_str(), waitTime);
        continue;
    }

It aborts at

    if ((after == ros::Time(0,0)) || (pc.header.stamp > after))

and no exception is thrown.

Also tried

if (!pc)

But pc is not a pointer so it gives a type mismatch compilation error.

------------------- update ------------------

Thanks for the responses!

As suggested, I tried storing the returned value as a shared pointer, then checking to see if it's NULL, and that worked.

boost::shared_ptr<sensor_msgs::PointCloud2 const> sharedPtr;
sensor_msgs::PointCloud2 pc;

sharedPtr  = ros::topic::waitForMessage<sensor_msgs::PointCloud2>(rgb_topic_, ros::Duration(10));
    if (sharedPtr == NULL)
        ROS_INFO("No point clound messages received);
    else
        pc = *sharedPtr;

Thanks for the answer! There seems to be a discrepancy between the tutorial and the class reference on how lookupTransform works too. The tutorial says it gives the transform from the 1st arg to the 2nd arg, but the class reference says the exact opposite. The class reference seems to be correct.