Difference: Rtabmap (1 vs. 14)

Revision 142019-05-03 - LabTech

Line: 1 to 1

META TOPICPARENT	name="FRCVLabMaintenance"

How to Use Display Disparity on Pioneer3DX

Line: 13 to 13

1. In terminal, within the directory of the file, mv raw_decimate.launch /opt/ros/indigo/share/image_proc/launch && mv resize.launch /opt/ros/indigo/share/image_proc/launch

Execution:
1. On the robot, run the stereo_camera node.

Changed:

<
<

1. In the new terminal, roscd image_proc && roslaunch raw_decimate.launch

>
>

1. In the new terminal, roscd image_proc && cd launch && roslaunch raw_decimate.launch

- - (worse image) for 10 FPS on the robot and 5 FPS on the server, set decimation_x and decimation_y to value="4" for both left_decimator and right_decimator
  - (better image) for 3.5 FPS on the robot and 2.6 FPS on the server, set decimation_x and decimation_y to value="2" for both left_decimator and right_decimator
1. On the server/robot, in a new terminal, run ROS_NAMESPACE=camera_crop rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True

Line: 28 to 28

To view the disparity map alone, use "rosrun image_view disparity_view image:=/camera_crop/disparity"
To view the depth_map use: "rosrun image_view image_view image:=/depth_raw" (HAS NOT BEEN TESTED)
To view pointcloud, use: "rosrun rviz rviz" AND set the Fixed Frame to stereo_camera

Changed:

<
<

>
>

Changed:

<
<

>
>

There's more information at the following links:
- http://wiki.ros.org/stereo_image_proc

Revision 132019-05-02 - LabTech

Line: 1 to 1

META TOPICPARENT	name="FRCVLabMaintenance"

Changed:

<
<

How to Use RTabMap, ROS, and BB2 Driver

>
>

How to Use Display Disparity on Pioneer3DX

Set up:
1. Required packages:
  - sudo apt-get install ros-indigo-rtabmap-ros
  - sudo apt-get install ros-indigo-stereo-image-proc
  - sudo apt-get install ros-indigo-image-pipeline

Deleted:

<
<

- - ros_imresize -- .zip is attached, please add to ~/catkin_ws/src and catkin_make

1. Camera MUST be calibrated

Changed:

<
<

1. Download launch file on the bottom.

>
>

1. Download launch files on the bottom.

1. In terminal, within the directory of the file, mv disparity_to_dep.launch /opt/ros/indigo/share/rtabmap_ros/launch

Added:

>
>

1. In terminal, within the directory of the file, mv raw_decimate.launch /opt/ros/indigo/share/image_proc/launch && mv resize.launch /opt/ros/indigo/share/image_proc/launch

Execution:
1. On the robot, run the stereo_camera node.

Changed:

<
<

1. On the server/robot, in a new terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True
2. On the robot, in a new terminal, cd ~/catkin_ws/src/ros_imresize-master/launch, run roslaunch imresize.launch
  - Please change the parameters inside imresize.launch for desired results.

>
>

1. In the new terminal, roscd image_proc && roslaunch raw_decimate.launch
  - (worse image) for 10 FPS on the robot and 5 FPS on the server, set decimation_x and decimation_y to value="4" for both left_decimator and right_decimator
  - (better image) for 3.5 FPS on the robot and 2.6 FPS on the server, set decimation_x and decimation_y to value="2" for both left_decimator and right_decimator
2. On the server/robot, in a new terminal, run ROS_NAMESPACE=camera_crop rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True

1. If run for the first time on the machine/laptop, adjust the parameters for the disparity map generation (real time): "rosrun rqt_reconfigure rqt_reconfigure"
  - OR add Disparity.cfg (see in bottom) to catkin_ws/src/image_pipeline/stereo_image_proc/cfg
  - ELSE please adjust according to the image of the parameters on the bottom

Line: 24 to 24

1. 1. On the server, in a new terminal, cd /opt/ros/indigo/share/rtabmap_ros/launch
  2. Run roslaunch rtabmap_ros disparity_to_dep.launch

Changed:

<
<

To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/stereo_camera image:=image_rect"
To view the disparity map alone, use "rosrun image_view disparity_view image:=/stereo_camera/disparity"

>
>

To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/camera_crop image:=image_rect"
To view the disparity map alone, use "rosrun image_view disparity_view image:=/camera_crop/disparity"

To view the depth_map use: "rosrun image_view image_view image:=/depth_raw" (HAS NOT BEEN TESTED)
To view pointcloud, use: "rosrun rviz rviz" AND set the Fixed Frame to stereo_camera

Line: 46 to 46

-- (c) Fordham University Robotics and Computer Vision

Changed:

<
<

META FILEATTACHMENT	attachment="disparity_to_dep.launch" attr="" comment="Launch file" date="1552400962" name="disparity_to_dep.launch" path="disparity_to_dep.launch" size="304" user="LabTech" version="1"

>
>

META FILEATTACHMENT	attachment="disparity_to_dep.launch" attr="" comment="disparity to depth launch file" date="1552400962" name="disparity_to_dep.launch" path="disparity_to_dep.launch" size="304" user="LabTech" version="1"

META FILEATTACHMENT	attachment="Screenshot_from_2019-04-04_133312.png" attr="" comment="Configuration for rqt_reconfigure" date="1554399246" name="Screenshot_from_2019-04-04_133312.png" path="Screenshot from 2019-04-04 13:33:12.png" size="126932" user="LabTech" version="1"
META FILEATTACHMENT	attachment="Disparity.cfg" attr="" comment="rqt disparity configuration" date="1554733371" name="Disparity.cfg" path="Disparity.cfg" size="2554" user="LabTech" version="1"
META FILEATTACHMENT	attachment="Screenshot_from_2019-04-08_112756.png" attr="h" comment="" date="1554737629" name="Screenshot_from_2019-04-08_112756.png" path="Screenshot from 2019-04-08 11:27:56.png" size="1105067" user="LabTech" version="1"
META FILEATTACHMENT	attachment="Screenshot_from_2019-04-08_112631.png" attr="h" comment="" date="1554737726" name="Screenshot_from_2019-04-08_112631.png" path="Screenshot from 2019-04-08 11:26:31.png" size="229627" user="LabTech" version="1"
META FILEATTACHMENT	attachment="Screenshot_from_2019-04-08_112502.png" attr="h" comment="" date="1554737934" name="Screenshot_from_2019-04-08_112502.png" path="Screenshot from 2019-04-08 11:25:02.png" size="319118" user="LabTech" version="1"

Changed:

<
<

META FILEATTACHMENT	attachment="ros_imresize-master.zip" attr="" comment=".zip for image reduction" date="1556556278" name="ros_imresize-master.zip" path="ros_imresize-master.zip" size="7291" user="LabTech" version="1"

>
>

META FILEATTACHMENT	attachment="ros_imresize-master.zip" attr="h" comment=".zip for image reduction" date="1556556278" name="ros_imresize-master.zip" path="ros_imresize-master.zip" size="7291" user="LabTech" version="1"
META FILEATTACHMENT	attachment="raw_decimate.launch" attr="" comment="decimate launch file" date="1556818248" name="raw_decimate.launch" path="raw_decimate.launch" size="1517" user="LabTech" version="1"

Revision 122019-04-29 - LabTech

Line: 1 to 1

META TOPICPARENT	name="FRCVLabMaintenance"

How to Use RTabMap, ROS, and BB2 Driver

Line: 7 to 7

- - sudo apt-get install ros-indigo-rtabmap-ros
  - sudo apt-get install ros-indigo-stereo-image-proc
  - sudo apt-get install ros-indigo-image-pipeline

Added:

>
>

- - ros_imresize -- .zip is attached, please add to ~/catkin_ws/src and catkin_make

1. Camera MUST be calibrated
2. Download launch file on the bottom.
3. In terminal, within the directory of the file, mv disparity_to_dep.launch /opt/ros/indigo/share/rtabmap_ros/launch

Execution:
1. On the robot, run the stereo_camera node.
2. On the server/robot, in a new terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True

Added:

>
>

1. On the robot, in a new terminal, cd ~/catkin_ws/src/ros_imresize-master/launch, run roslaunch imresize.launch
  - Please change the parameters inside imresize.launch for desired results.

1. If run for the first time on the machine/laptop, adjust the parameters for the disparity map generation (real time): "rosrun rqt_reconfigure rqt_reconfigure"
  - OR add Disparity.cfg (see in bottom) to catkin_ws/src/image_pipeline/stereo_image_proc/cfg
  - ELSE please adjust according to the image of the parameters on the bottom

Line: 48 to 52

META FILEATTACHMENT	attachment="Screenshot_from_2019-04-08_112756.png" attr="h" comment="" date="1554737629" name="Screenshot_from_2019-04-08_112756.png" path="Screenshot from 2019-04-08 11:27:56.png" size="1105067" user="LabTech" version="1"
META FILEATTACHMENT	attachment="Screenshot_from_2019-04-08_112631.png" attr="h" comment="" date="1554737726" name="Screenshot_from_2019-04-08_112631.png" path="Screenshot from 2019-04-08 11:26:31.png" size="229627" user="LabTech" version="1"
META FILEATTACHMENT	attachment="Screenshot_from_2019-04-08_112502.png" attr="h" comment="" date="1554737934" name="Screenshot_from_2019-04-08_112502.png" path="Screenshot from 2019-04-08 11:25:02.png" size="319118" user="LabTech" version="1"

Added:

>
>

META FILEATTACHMENT	attachment="ros_imresize-master.zip" attr="" comment=".zip for image reduction" date="1556556278" name="ros_imresize-master.zip" path="ros_imresize-master.zip" size="7291" user="LabTech" version="1"

Revision 112019-04-09 - LabTech

Line: 1 to 1

META TOPICPARENT	name="FRCVLabMaintenance"

How to Use RTabMap, ROS, and BB2 Driver

Line: 7 to 7

- - sudo apt-get install ros-indigo-rtabmap-ros
  - sudo apt-get install ros-indigo-stereo-image-proc
  - sudo apt-get install ros-indigo-image-pipeline

Added:

>
>

1. Camera MUST be calibrated

1. Download launch file on the bottom.
2. In terminal, within the directory of the file, mv disparity_to_dep.launch /opt/ros/indigo/share/rtabmap_ros/launch

Execution:

Revision 102019-04-08 - LabTech

Line: 1 to 1

META TOPICPARENT	name="FRCVLabMaintenance"

How to Use RTabMap, ROS, and BB2 Driver

Line: 22 to 22

To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/stereo_camera image:=image_rect"
To view the disparity map alone, use "rosrun image_view disparity_view image:=/stereo_camera/disparity"
To view the depth_map use: "rosrun image_view image_view image:=/depth_raw" (HAS NOT BEEN TESTED)

Changed:

<
<

There's more information at the following links:

>
>

To view pointcloud, use: "rosrun rviz rviz" AND set the Fixed Frame to stereo_camera

There's more information at the following links:

- http://wiki.ros.org/stereo_image_proc
- http://wiki.ros.org/rtabmap_ros

Line: 38 to 44

META FILEATTACHMENT	attachment="disparity_to_dep.launch" attr="" comment="Launch file" date="1552400962" name="disparity_to_dep.launch" path="disparity_to_dep.launch" size="304" user="LabTech" version="1"
META FILEATTACHMENT	attachment="Screenshot_from_2019-04-04_133312.png" attr="" comment="Configuration for rqt_reconfigure" date="1554399246" name="Screenshot_from_2019-04-04_133312.png" path="Screenshot from 2019-04-04 13:33:12.png" size="126932" user="LabTech" version="1"
META FILEATTACHMENT	attachment="Disparity.cfg" attr="" comment="rqt disparity configuration" date="1554733371" name="Disparity.cfg" path="Disparity.cfg" size="2554" user="LabTech" version="1"

Added:

>
>

META FILEATTACHMENT	attachment="Screenshot_from_2019-04-08_112756.png" attr="h" comment="" date="1554737629" name="Screenshot_from_2019-04-08_112756.png" path="Screenshot from 2019-04-08 11:27:56.png" size="1105067" user="LabTech" version="1"
META FILEATTACHMENT	attachment="Screenshot_from_2019-04-08_112631.png" attr="h" comment="" date="1554737726" name="Screenshot_from_2019-04-08_112631.png" path="Screenshot from 2019-04-08 11:26:31.png" size="229627" user="LabTech" version="1"
META FILEATTACHMENT	attachment="Screenshot_from_2019-04-08_112502.png" attr="h" comment="" date="1554737934" name="Screenshot_from_2019-04-08_112502.png" path="Screenshot from 2019-04-08 11:25:02.png" size="319118" user="LabTech" version="1"

Revision 92019-04-08 - LabTech

Line: 1 to 1

META TOPICPARENT	name="FRCVLabMaintenance"

How to Use RTabMap, ROS, and BB2 Driver

Line: 6 to 6

1. Required packages:
  - sudo apt-get install ros-indigo-rtabmap-ros
  - sudo apt-get install ros-indigo-stereo-image-proc

Added:

>
>

- - sudo apt-get install ros-indigo-image-pipeline

1. Download launch file on the bottom.
2. In terminal, within the directory of the file, mv disparity_to_dep.launch /opt/ros/indigo/share/rtabmap_ros/launch

Execution:
1. On the robot, run the stereo_camera node.
2. On the server/robot, in a new terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True

Changed:

<
<

1. If run for the first time on the machine/laptop, change adjust the parameters for the disparity map generation (real time): "rosrun rqt_reconfigure rqt_reconfigure"
  - please see the image at the bottom for the configuration

>
>

1. If run for the first time on the machine/laptop, adjust the parameters for the disparity map generation (real time): "rosrun rqt_reconfigure rqt_reconfigure"
  - OR add Disparity.cfg (see in bottom) to catkin_ws/src/image_pipeline/stereo_image_proc/cfg
  - ELSE please adjust according to the image of the parameters on the bottom

1. Optional (disparity to depth -- not tested yet):
  1. On the server, in a new terminal, cd /opt/ros/indigo/share/rtabmap_ros/launch
  2. Run roslaunch rtabmap_ros disparity_to_dep.launch

Line: 23 to 25

There's more information at the following links:
- http://wiki.ros.org/stereo_image_proc
- http://wiki.ros.org/rtabmap_ros

Deleted:

<
<

Permissions

Line: 36 to 37

META FILEATTACHMENT	attachment="disparity_to_dep.launch" attr="" comment="Launch file" date="1552400962" name="disparity_to_dep.launch" path="disparity_to_dep.launch" size="304" user="LabTech" version="1"
META FILEATTACHMENT	attachment="Screenshot_from_2019-04-04_133312.png" attr="" comment="Configuration for rqt_reconfigure" date="1554399246" name="Screenshot_from_2019-04-04_133312.png" path="Screenshot from 2019-04-04 13:33:12.png" size="126932" user="LabTech" version="1"

Added:

>
>

META FILEATTACHMENT	attachment="Disparity.cfg" attr="" comment="rqt disparity configuration" date="1554733371" name="Disparity.cfg" path="Disparity.cfg" size="2554" user="LabTech" version="1"

Revision 82019-04-04 - LabTech

Line: 1 to 1

META TOPICPARENT	name="FRCVLabMaintenance"

How to Use RTabMap, ROS, and BB2 Driver

Line: 10 to 10

1. In terminal, within the directory of the file, mv disparity_to_dep.launch /opt/ros/indigo/share/rtabmap_ros/launch

Execution:
1. On the robot, run the stereo_camera node.

Changed:

<
<

1. On the server/robot, in a new terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True _queue_size:=20
2. Optional (disparity to depth -- not tested yet):

>
>

1. On the server/robot, in a new terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True
2. If run for the first time on the machine/laptop, change adjust the parameters for the disparity map generation (real time): "rosrun rqt_reconfigure rqt_reconfigure"
  - please see the image at the bottom for the configuration
3. Optional (disparity to depth -- not tested yet):

1. 1. On the server, in a new terminal, cd /opt/ros/indigo/share/rtabmap_ros/launch
  2. Run roslaunch rtabmap_ros disparity_to_dep.launch

To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/stereo_camera image:=image_rect"
To view the disparity map alone, use "rosrun image_view disparity_view image:=/stereo_camera/disparity"

Changed:

<
<

To view the depth_map use: "rosrun image_view image_view image:=/depth_raw"
To adjust the parameters for the disparity map generation in real time use: "rosrun rqt_reconfigure rqt_reconfigure"

>
>

To view the depth_map use: "rosrun image_view image_view image:=/depth_raw" (HAS NOT BEEN TESTED)

There's more information at the following links:
- http://wiki.ros.org/stereo_image_proc
- http://wiki.ros.org/rtabmap_ros

Added:

>
>

Permissions

Persons/group who can view/change the page:

Line: 32 to 35

-- (c) Fordham University Robotics and Computer Vision

META FILEATTACHMENT	attachment="disparity_to_dep.launch" attr="" comment="Launch file" date="1552400962" name="disparity_to_dep.launch" path="disparity_to_dep.launch" size="304" user="LabTech" version="1"

Added:

>
>

META FILEATTACHMENT	attachment="Screenshot_from_2019-04-04_133312.png" attr="" comment="Configuration for rqt_reconfigure" date="1554399246" name="Screenshot_from_2019-04-04_133312.png" path="Screenshot from 2019-04-04 13:33:12.png" size="126932" user="LabTech" version="1"

Revision 72019-03-29 - DamianLyons

Line: 1 to 1

META TOPICPARENT	name="FRCVLabMaintenance"

How to Use RTabMap, ROS, and BB2 Driver

Line: 26 to 26

Persons/group who can view/change the page:

Changed:

<
<

Set ALLOWTOPICVIEW = FRCVRoboticsGroup

>
>

Set ALLOWTOPICCHANGE = FRCVRoboticsGroup

-- (c) Fordham University Robotics and Computer Vision

Revision 62019-03-28 - LabTech

Line: 1 to 1

META TOPICPARENT	name="FRCVLabMaintenance"

How to Use RTabMap, ROS, and BB2 Driver

Line: 10 to 10

1. In terminal, within the directory of the file, mv disparity_to_dep.launch /opt/ros/indigo/share/rtabmap_ros/launch

Execution:
1. On the robot, run the stereo_camera node.

Changed:

<
<

1. On the server, in one terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True _queue_size:=20

>
>

1. On the server/robot, in a new terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True _queue_size:=20
2. Optional (disparity to depth -- not tested yet):

1. On the server, in a new terminal, cd /opt/ros/indigo/share/rtabmap_ros/launch
2. Run roslaunch rtabmap_ros disparity_to_dep.launch

Revision 52019-03-25 - LabTech

Line: 1 to 1

META TOPICPARENT	name="FRCVLabMaintenance"

How to Use RTabMap, ROS, and BB2 Driver

Line: 10 to 10

1. In terminal, within the directory of the file, mv disparity_to_dep.launch /opt/ros/indigo/share/rtabmap_ros/launch

Execution:
1. On the robot, run the stereo_camera node.

Changed:

<
<

1. On the server, in one terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc

>
>

1. On the server, in one terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True _queue_size:=20

1. On the server, in a new terminal, cd /opt/ros/indigo/share/rtabmap_ros/launch
2. Run roslaunch rtabmap_ros disparity_to_dep.launch

Changed:

<
<

To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/stereo_camera image:=image_rect _queue_size:=20"
To view the depth_map use: "rosrun image_view image_view image:=/depth_raw"
To adjust the parameters for the disparity map generation in real time use: "rosrun rqt_reconfigure rqt_reconfigure"
There's more information at the following links:
- http://wiki.ros.org/stereo_image_proc
- http://wiki.ros.org/rtabmap_ros

>
>

To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/stereo_camera image:=image_rect"
To view the disparity map alone, use "rosrun image_view disparity_view image:=/stereo_camera/disparity"
To view the depth_map use: "rosrun image_view image_view image:=/depth_raw"
To adjust the parameters for the disparity map generation in real time use: "rosrun rqt_reconfigure rqt_reconfigure"
There's more information at the following links:
- http://wiki.ros.org/stereo_image_proc
- http://wiki.ros.org/rtabmap_ros

Permissions

Persons/group who can view/change the page:

Revision 42019-03-25 - LabTech

Line: 1 to 1

META TOPICPARENT	name="FRCVLabMaintenance"

How to Use RTabMap, ROS, and BB2 Driver

Line: 14 to 14

1. On the server, in a new terminal, cd /opt/ros/indigo/share/rtabmap_ros/launch
2. Run roslaunch rtabmap_ros disparity_to_dep.launch

Changed:

<
<

To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/camera image:=image_rect_color"

>
>

To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/stereo_camera image:=image_rect _queue_size:=20"

To view the depth_map use: "rosrun image_view image_view image:=/depth_raw"
To adjust the parameters for the disparity map generation in real time use: "rosrun rqt_reconfigure rqt_reconfigure"
There's more information at the following links:

Revision 32019-03-25 - LabTech

Line: 1 to 1

META TOPICPARENT	name="FRCVLabMaintenance"

How to Use RTabMap, ROS, and BB2 Driver

Added:

>
>

Set up:

Required packages:
- sudo apt-get install ros-indigo-rtabmap-ros
- sudo apt-get install ros-indigo-stereo-image-proc
Download launch file on the bottom.
In terminal, within the directory of the file, mv disparity_to_dep.launch /opt/ros/indigo/share/rtabmap_ros/launch

Added:

>
>

Execution:

On the robot, run the stereo_camera node.
On the server, in one terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc
On the server, in a new terminal, cd /opt/ros/indigo/share/rtabmap_ros/launch
Run roslaunch rtabmap_ros disparity_to_dep.launch

Changed:

<
<

To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/camera image:=image_rect_color"
To view the depth_map use: "rosrun image_view image_view image:=/depth_raw"
To adjust the parameters for the disparity map generation in real time use: "rosrun rqt_reconfigure rqt_reconfigure"
There's more information at the following links:

http://wiki.ros.org/stereo_image_proc
http://wiki.ros.org/rtabmap_ros

>
>

To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/camera image:=image_rect_color"
To view the depth_map use: "rosrun image_view image_view image:=/depth_raw"
To adjust the parameters for the disparity map generation in real time use: "rosrun rqt_reconfigure rqt_reconfigure"
There's more information at the following links:
- http://wiki.ros.org/stereo_image_proc
- http://wiki.ros.org/rtabmap_ros

Permissions

Persons/group who can view/change the page:

Revision 22019-03-14 - LabTech

Line: 1 to 1

META TOPICPARENT	name="FRCVLabMaintenance"

How to Use RTabMap, ROS, and BB2 Driver

Line: 8 to 8

Download launch file on the bottom.
In terminal, within the directory of the file, mv disparity_to_dep.launch /opt/ros/indigo/share/rtabmap_ros/launch
On the robot, run the stereo_camera node.

Changed:

<
<

On the server, in one terminal, run ROS_NAMESPACE=camera rosrun stereo_image_proc stereo_image_proc

>
>

On the server, in one terminal, run ROS_NAMESPACE=stereo_camera rosrun stereo_image_proc stereo_image_proc

On the server, in a new terminal, cd /opt/ros/indigo/share/rtabmap_ros/launch
Run roslaunch rtabmap_ros disparity_to_dep.launch

Revision 12019-03-12 - LabTech

Line: 1 to 1

Added:

>
>

META TOPICPARENT	name="FRCVLabMaintenance"

How to Use RTabMap, ROS, and BB2 Driver

Required packages:
- sudo apt-get install ros-indigo-rtabmap-ros
- sudo apt-get install ros-indigo-stereo-image-proc
Download launch file on the bottom.
In terminal, within the directory of the file, mv disparity_to_dep.launch /opt/ros/indigo/share/rtabmap_ros/launch
On the robot, run the stereo_camera node.
On the server, in one terminal, run ROS_NAMESPACE=camera rosrun stereo_image_proc stereo_image_proc
On the server, in a new terminal, cd /opt/ros/indigo/share/rtabmap_ros/launch
Run roslaunch rtabmap_ros disparity_to_dep.launch

To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/camera image:=image_rect_color"
To view the depth_map use: "rosrun image_view image_view image:=/depth_raw"
To adjust the parameters for the disparity map generation in real time use: "rosrun rqt_reconfigure rqt_reconfigure"
There's more information at the following links:

http://wiki.ros.org/stereo_image_proc
http://wiki.ros.org/rtabmap_ros

Permissions

Persons/group who can view/change the page:

Set ALLOWTOPICVIEW = FRCVRoboticsGroup
Set ALLOWTOPICCHANGE = FRCVRoboticsGroup

-- (c) Fordham University Robotics and Computer Vision

META FILEATTACHMENT	attachment="disparity_to_dep.launch" attr="" comment="Launch file" date="1552400962" name="disparity_to_dep.launch" path="disparity_to_dep.launch" size="304" user="LabTech" version="1"

View topic | History: r14 < r13 < r12 < r11 | More topic actions...