[ros-users] Vision Stack Questions

Abe Bachrach abachrach at gmail.com
Wed Jun 9 15:57:42 UTC 2010


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
>>> >>
>>> >>
>>> >>
>>> >> _______________________________________________
>>> >> ros-users mailing list
>>> >> ros-users at code.ros.org
>>> >> https://code.ros.org/mailman/listinfo/ros-users
>>>
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>>
>>
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