[ros-users] Vision Stack Questions

[Victor Eruhimov]

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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