Hi, I am interested in using the vision stack for getting 3D/6DoF pose estimates from a mono camera. From what I found, visodo is the package for that. Is the package currently at a (reasonably) usable stage? Miguel, Victor, or anyone else who has tried it - what is your progress and impressions? Thank you, Ivan Dryanovski On Wed, Jun 9, 2010 at 11:57 AM, Abe Bachrach wrote: > awesome! > thanks, > -=Abe > > On Wed, Jun 9, 2010 at 11:40 AM, Victor Eruhimov > wrote: >> >> Hi, yes, this is on todo list. For now, you can download the files from >> (thanks to Patrick!) >> http://pr.willowgarage.com/data/calonder_descriptor/current.rtc >> http://pr.willowgarage.com/data/vocabulary_tree/holidays.tree >> http://pr.willowgarage.com/data/vocabulary_tree/holidays.weights >> >> Best Regards, Victor >> >> >> >> On Wed, Jun 9, 2010 at 6:46 PM, Abe Bachrach wrote: >>> >>> Hey Kurt, >>> this is probably on your guys' todo list for documentation/release, but >>> currently, there are a couple issues with the external files required by the >>> calonder features, and the place recognition... >>> calonder features: >>> the current.rtc file is not automatically downloaded when you build the >>> vslam_system package. To get it, I had to manually run >>> # make download_data_current.rtc >>> in the folder >>> stacks/visual_feature_detectors/calonder_descriptor/build >>> Furthermore, the path to the current.rtc file is hardcoded into the files >>> vision/vslam_system/run_stereo.cpp >>> vision/frame_common/src/frame.cpp >>> >>> place recognition: >>> the path to the holidays.tree and holidays.weights is hardcoded  to >>> "/u/mihelich/vocab/holidays.tree", "/u/mihelich/vocab/holidays.weights" >>> in vslam.cpp (and possibly elsewhere) >>> these files don't seem to have a make rule that allows them to be >>> downloaded... are they available from somewhere? >>> >>> finally, the software does not seem to check for the existence of these >>> files before trying to load them, and does not seem to check whether it was >>> able to successfully load them. >>> thanks, >>> -=Abe >>> >>> >>> On Wed, Jun 9, 2010 at 2:25 AM, Victor Eruhimov >>> wrote: >>>> >>>> Hi, yes, this was my change causing errors -- I am in the process of >>>> integrating mono visual odometry. The compilation problem is fixed in >>>> r38197. Best Regards, Victor >>>> >>>> On Jun 9, 2010, at 9:40 AM, Kurt Konolige wrote: >>>> >>>> > Miguel, the VSLAM stack is experimental at this stage.  We'll try to >>>> > have a fully documented release by the end of the summer.  At this point, >>>> > there are four packages: >>>> > >>>> > sba - sparse bundle adjustment >>>> > posest - pose estimation, 3d and 2d >>>> > frame_common - front-end for camera parameters, matching >>>> > vslam_system - system-level integration >>>> > >>>> > These should compile correctly.  I just tried vslam_system and you're >>>> > right, it doesn't - I've cc'd Victor who I think made the changes that >>>> > caused the problem. >>>> > >>>> > Cheers --Kurt >>>> > >>>> > On 6/8/2010 5:18 AM, Miguel Juliá wrote: >>>> >> >>>> >> Hi all, >>>> >> >>>> >> I am trying to use your visual odometry code to test its >>>> >> implementation >>>> >> in the vision stack. What is the state of development of this stack? >>>> >> The >>>> >> documentation seems to be incomplete and there is no tutorial, just >>>> >> the >>>> >> code API. This stack includes visual odometry, place recognition and >>>> >> toro, doesn't it? >>>> >> >>>> >> I have downloaded the vision stack and tried to compile it but >>>> >> vslam_system return some compilation errors. It seems that the posest >>>> >> package in the repository is different from what vslam_system >>>> >> expects. >>>> >> >>>> >> Any advice? >>>> >> >>>> >> Thanks, >>>> >> >>>> >> Miguel Juliá. >>>> >> >>>> >> >>>> >> >>>> >> >>>> >> -- >>>> >> Miguel Juliá Cristóbal >>>> >> Laboratorio de Automatización Robótica y Visión por Computador. >>>> >> (ARVC) >>>> >> Departamento de Ingeniería de Sistemas Industriales. >>>> >> Universidad Miguel Hernández. >>>> >> Av. Universidad s/n Edif. Quorum V. >>>> >> 03202 Elche-Alicante. >>>> >> Tlf.: 96522-2435 >>>> >> >>>> >> >>>> >> >>>> >> _______________________________________________ >>>> >> ros-users mailing list >>>> >> ros-users@code.ros.org >>>> >> https://code.ros.org/mailman/listinfo/ros-users >>>> >>>> _______________________________________________ >>>> ros-users mailing list >>>> ros-users@code.ros.org >>>> https://code.ros.org/mailman/listinfo/ros-users >>> >>> >>> _______________________________________________ >>> ros-users mailing list >>> ros-users@code.ros.org >>> https://code.ros.org/mailman/listinfo/ros-users >>> >> >> >> _______________________________________________ >> ros-users mailing list >> ros-users@code.ros.org >> https://code.ros.org/mailman/listinfo/ros-users >> > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users > >