Hi,
I have successfully built the OBR-SLAM2 library (both normal and ROS variant). Using the Linux version (without ROS) and with a predefined dataset (TUM2 for example), it works perfectly. However, after building ROS node and executing it with a proper /camera/image_raw being published I don't get any Odometry, Trajectory estimation or mapping. In this video is shown what I have previously explained:
https://youtu.be/3OC2ARB9baI
This is the configuration of the Gazebo camera:
<sensor name='camera' type='camera'>
<update_rate>30</update_rate>
<camera name='head'>
<horizontal_fov>1.5708</horizontal_fov>
<image>
<width>1280</width>
<height>1024</height>
<format>R8G8B8</format>
</image>
<clip>
<near>1</near>
<far>500</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin name='camera_controller' filename='libgazebo_ros_camera.so'>
<alwaysOn>true</alwaysOn>
<updateRate>0.0</updateRate>
<cameraName>camera</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>camera_link</frameName>
<hackBaseline>0.07</hackBaseline>
<Fx>517.306408</Fx>
<Fy>516.469215</Fy>
<Cx>318.643040</Cx>
<Cy>255.313989</Cy>
<distortionK1>0.0</distortionK1>
<distortionK2>0.0</distortionK2>
<distortionK3>0.0</distortionK3>
<distortionT1>0.0</distortionT1>
<distortionT2>0.0</distortionT2>
<robotNamespace>/</robotNamespace>
</plugin>
</sensor>
This is part of the calibration file:
#--------------------------------------------------------------------------------------------
Camera Parameters. Adjust them!
#--------------------------------------------------------------------------------------------
Camera calibration and distortion parameters (OpenCV)
Camera.fx: 517.306408
Camera.fy: 516.469215
Camera.cx: 318.643040
Camera.cy: 255.313989
Camera.k1: 0.0
Camera.k2: 0.0
Camera.p1: 0.0
Camera.p2: 0.0
Camera.k3: 0.0
Camera frames per second
Camera.fps: 30.0
Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1
And the Vocabulary file I used was the one located at Vocabulary/ORBvoc.txt.
I hope I explained it properly, tell me if you need further information. Thank you.
Hi,
I have successfully built the OBR-SLAM2 library (both normal and ROS variant). Using the Linux version (without ROS) and with a predefined dataset (TUM2 for example), it works perfectly. However, after building ROS node and executing it with a proper /camera/image_raw being published I don't get any Odometry, Trajectory estimation or mapping. In this video is shown what I have previously explained:
https://youtu.be/3OC2ARB9baI
This is the configuration of the Gazebo camera:
This is part of the calibration file:
And the Vocabulary file I used was the one located at Vocabulary/ORBvoc.txt.
I hope I explained it properly, tell me if you need further information. Thank you.