Difference: Rtabmap (12 vs. 13)

Revision 132019-05-02 - LabTech

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How to Use RTabMap, ROS, and BB2 Driver

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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
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      • ros_imresize -- .zip is attached, please add to ~/catkin_ws/src and catkin_make
 
    1. Camera MUST be calibrated
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    1. Download launch file on the bottom.
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    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
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    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
 
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    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.
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    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
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      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
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  1. To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/stereo_camera image:=image_rect"
  2. To view the disparity map alone, use "rosrun image_view disparity_view image:=/stereo_camera/disparity"
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  1. To view the disparity map alongside the disparity image, use: "rosrun image_view stereo_view stereo:=/camera_crop image:=image_rect"
  2. To view the disparity map alone, use "rosrun image_view disparity_view image:=/camera_crop/disparity"
 
  1. To view the depth_map use: "rosrun image_view image_view image:=/depth_raw" (HAS NOT BEEN TESTED)
  2. To view pointcloud, use: "rosrun rviz rviz" AND set the Fixed Frame to stereo_camera
Screenshot_from_2019-04-08_112756.png
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  -- (c) Fordham University Robotics and Computer Vision
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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"
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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"
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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"
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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"
 
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