[ros-users] Vision Stack Questions

[Ivan Dryanovski]

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 <abachrach at gmail.com> wrote:
> awesome!
> thanks,
> -=Abe
>
> On Wed, Jun 9, 2010 at 11:40 AM, Victor Eruhimov <relrotciv at googlemail.com>
> 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 <abachrach at gmail.com> 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
>>> <relrotciv at googlemail.com> 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
>>>> >>
>>>> >>
>>>> >>
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