Comments (10)
Hi Breyner, I will fix the KITTI dataset rosbag link as soon as possible. It is not hard to convert the kitti dataset to rosbag. The resulting rosbag should contains the left and right images and the cameraInfo message for each camera. You can try https://github.com/lrse/dataset2bag script to generate de rosbag.
You must learn ROS to understand how to create your own launch file. You can check the existing launch files that we provide in the s-ptam package to have an idea of the form that it should have.
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I updated the KITTI rosbag link, so you can download it now.
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Tks a lot!
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Hi, I tested kitti dataset and it worked well. Now I'm trying to run my own dataset. I'm publishing the topics CameraInfo and Image for left and right cameras. I edited a launch file (kitti.launch) and ran sptam. The sptam node is reading the topics (I saw it using rqt)
But nothing happens and when I try to see the stereo images being processed by sptam (using rviz), it shows NO IMAGES (in fact it doesn't show any image). I don't know if the format of the images that my node publish is right (rectified and in color), because the images published in kitti example are rectified but in gray scale.
Thanks a lot for your help!
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from sptam.
Hi, tks a lot for your help. Before send you the information that you have asked me, I would like to know what this error means and how to solve it.
acfr@acfr-protea:~/catkin_ws/src/sptam-master/launch$ roslaunch sptam kitti.launch
... logging to /home/acfr/.ros/log/539bb514-0161-11e8-a3ef-b8ca3a8203b2/roslaunch-acfr-protea-27828.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://acfr-protea:43403/
SUMMARY
PARAMETERS
- /rosdistro: kinetic
- /rosversion: 1.12.12
- /sptam/BundleAdjustmentActiveKeyframes: 10
- /sptam/DescriptorExtractor/Name: BRIEF
- /sptam/DescriptorExtractor/bytes: 32
- /sptam/DescriptorMatcher/Name: BruteForce-Hamming
- /sptam/DescriptorMatcher/crossCheck: False
- /sptam/EpipolarDistance: 0
- /sptam/FeatureDetector/Name: GFTT
- /sptam/FeatureDetector/minDistance: 15.0
- /sptam/FeatureDetector/nfeatures: 1000
- /sptam/FeatureDetector/qualityLevel: 0.01
- /sptam/FeatureDetector/useHarrisDetector: False
- /sptam/FrustumFarPlaneDist: 10000.0
- /sptam/FrustumNearPlaneDist: 0.1
- /sptam/LoopDetectorVocabulary: /home/acfr/catkin...
- /sptam/MatchingCellSize: 15
- /sptam/MatchingDistance: 25
- /sptam/MatchingNeighborhood: 2
- /sptam/approximate_sync: False
- /sptam/base_frame: left_camera
- /sptam/camera_frame: left_camera
- /sptam/minimumTrackedPointsRatio: 0.9
- /sptam/publish_on_fail: True
- /sptam/publish_transform: True
- /sptam/reference_frame: left_camera
- /sptam/use_prediction: False
- /use_sim_time: True
NODES
/
sptam (sptam/sptam_node)
sptam_path (ros_utils/pose_to_path)
start_broadcaster (tf2_ros/static_transform_publisher)
ROS_MASTER_URI=http://localhost:11311
process[start_broadcaster-1]: started with pid [27845]
process[sptam_path-2]: started with pid [27846]
process[sptam-3]: started with pid [27865]
[ERROR] [1516841697.764833967]: Skipped loading plugin with error: XML Document '/opt/ros/kinetic/share/gmapping/nodelet_plugins.xml' has no Root Element. This likely means the XML is malformed or missing..
[ INFO] [1516841697.775219669]: Initializing nodelet with 8 worker threads.
crossCheck: 0
OpenCV: threads set to -1
nfeatures: 1000
qualityLevel: 0.01
minDistance: 15
blockSize: 3
useHarrisDetector: 0
k: 0.04
nfeatures: 1000
qualityLevel: 0.01
minDistance: 15
blockSize: 3
useHarrisDetector: 0
k: 0.04
bytes: 32
use_orientation: 0
bytes: 32
use_orientation: 0
I look into that folder and that file doesn't exist. What can I do?
Tks a lot for your help!
from sptam.
Hi! When I run kitti dataset and my dataset (the camera is a NVidia with 100°FOV) I found two main differences:
- The initialization.
- With kitti dataset:
[ INFO] [1516855339.401167307]: Loop Detector initializing, loading vocabulary
[ INFO] [1516855346.626983834, 1385798162.985444388]: init calib
[ INFO] [1516855346.627137313, 1385798162.985444388]: baseline: 0.537166
[ INFO] [1516855346.672563241, 1385798163.025699568]: S-PTAM stereo node initialized.
*With my datset
[ INFO] [1516853407.970888568]: Loop Detector initializing, loading vocabulary
[ INFO] [1516853415.451132111]: S-PTAM stereo node initialized.
And then it stops and do nothing. As we can see neither init calib nor baselines steps are done.
- /tf topic
- kitti dataset publishes this topic and sptam node is suscribed. What is it about?
These are two rectified images that are being published:
I compile with the option -DSHOW_TRACKED_FRAMES=ON.
What .log file should I show you?
Tks a lot for all your help!
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from sptam.
Hello,
Can you please share kitti rosbag files again. I could not download it. I think the link is broken. I tried to use 2 different converter in order to convert synhronized Kitti images into rosbag files with the following algorithms
I created this rosbags to pulish following topics;
/kitti_stereo/left/image_rect
/kitti_stereo/right/image_rect
/kitti_stereo/left/camera_info
/kitti_stereo/right/camera_info
However, SPTAM algorithm stucked into "S-PTAM stereo node initialized". It does not continue processing. I also checked log file, it does not contain any pose information such as refined camera pose. On the other hand, for Euroc dataset i can run the code and i can reach the pose informations. So, the problem is related with the kitti bag files and/or kitti launch file.
Please can you share your kitti rosbag files again, the link is broken.
Thank you
from sptam.
Hi hlezki, our server with the sequences is down because a hardware issue and there is non personal working to fix it because the quarantine.
the topics look fine, maybe the image or the camera_info message are corrupted. Have you checked them? try printing the message information with rostopic echo and use rqt to visualize the images.
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Related Issues (20)
- Gtest error while compilation HOT 12
- Not enough points for tracking with MIT dataset HOT 1
- ERROR: There is not any covisibility keyframes observing the tracked points HOT 7
- Building standalone HOT 2
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- Error Running kitti.launch with kitti_01.bag HOT 20
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- error: ‘DBoW2::FBrief::TDescriptor {aka class std::bitset<256ul>}’ has no member named ‘resize’ HOT 6
- [ERROR] [1563717737.344465687]: [registerPublisher] Failed to contact master at [localhost:11311]. Retrying... HOT 17
- File:'file:///home/lzb/catkin_ws2/src/sptam/src/sptam/loopclosing/detectors/DLDLoopDetector.cpp' Severity:'Error' Message:''DBoW2:: FBrief:: TDescriptor {aka class std:: BitSet < 256ul >}'has no member named'resize'' HOT 4
- Gtest error while doing catkin_make --pkg sptam -DCMAKE_BUILD_TYPE=RelWithDebInfo -DSINGLE_THREAD=OFF -DSHOW_TRACKED_FRAMES=ON -DSHOW_PROFILING=ON -DPARALLELIZE=ON HOT 3
- Error while running the roslaunch sptam kitti.launch HOT 23
- KITTI Bag Files HOT 4
- Disable GTest? HOT 1
- CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkin_workspace.cmake:95 (message): This workspace contains non-catkin packages in it, and catkin cannot build a non-homogeneous workspace without isolation. Try the 'catkin_make_isolated' command instead. Call Stack (most recent call first): CMakeLists.txt:67 (catkin_workspace) HOT 4
- rosplay kitti_04 error,need help HOT 3
- Please HELP me::::::when-->“catkin_make --pkg sptam -DCMAKE_BUILD_TYPE=RelWithDebInfo -DSINGLE_THREAD=OFF -DSHOW_TRACKED_FRAMES=ON -DSHOW_PROFILING=ON -DPARALLELIZE=ON” HOT 7
- Please help me, it's too difficult to solve HOT 18
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