Hi, the mono vslam is still under development. It works fine on subsequences of new_college and other test datasets, but gives occasional errors that I am trying to track down. Best Regards, Victor On Aug 19, 2010, at 1:30 PM, Helen Oleynikova wrote: > Hi Ivan, > You want the posest package, actually - visodo no longer exists. > Victor has been working on pose estimation from monocular images, and you can test it out for yourself with the run_mono executable in vslam_system to run on stored image files (or the mono_vslam_node to run on data from ROS topics). However, few motion cases have been implemented; it appears to work well on pure translation, though Victor would know more about it than me. > Thanks, > Helen > > On Fri, Aug 13, 2010 at 2:43 PM, Ivan Dryanovski wrote: > 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 > > > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >