21 Oct 2014
Run SVO
Follow https://github.com/uzh-rpg/rpg_svo/wiki to run SVO with ROS
I need
1.
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roscore |
This should be ok if the ros is installed
2.
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roslaunch usb_cam usb_cam.launch |
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<launch> <node name="usb_cam" pkg="usb_cam" type="usb_cam_node" output="screen" > <param name="video_device" value="/dev/video1" /> <param name="image_width" value="640" /> <param name="image_height" value="480" /> <param name="pixel_format" value="mjpeg" /> <param name="camera_frame_id" value="usb_cam" /> <param name="io_method" value="mmap"/> <param name="framerate" value="60" /> </node> </launch> |
It requires calibration file using cameracalibrator.py to calibrate
The Pinhole model http://wiki.ros.org/camera_calibration
3.svo
create live.launch file
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<launch> <node pkg="svo_ros" type="vo" name="svo" clear_params="true" output="screen"> <!-- Camera topic to subscribe to --> <param name="cam_topic" value="/usb_cam/image_raw" type="str" /> <!-- Camera calibration file --> <rosparam file="$(find svo_ros)/param/my_camera.yaml" /> <!-- Default parameter settings: choose between vo_fast and vo_accurate --> <rosparam file="$(find svo_ros)/param/vo_fast.yaml" /> </node> </launch> |
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roslaunch svo_ros live.launch |
4.
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rosrun rqt_svo rqt_svo |
5.
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rosrun rviz rviz |
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item 2:
ref:http://www.iheartrobotics.com/2010/05/testing-ros-usb-camera-drivers.html
1. create usb_cam.launch with content
2.
error:
Feasible solution:
1.http://stackoverflow.com/questions/24970275/ros-with-svo-camera-model-not-correctly-specified
2.http://answers.ros.org/question/186814/ptam-and-cameracalibrator-wont-start/
1. Not sure a .yaml file is needed for usb_cam
2. where the file should be put?
This link need to be verifed that it is not out of date
http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration