[ros-users] Vision Stack Questions

Tue Aug 24 08:29:17 UTC 2010

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 <ivan.dryanovski at gmail.com> 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 <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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