Rtabmap < Main

Tags: view all tags

<span style="color: #7a4707; font-family: 'Courier New', courier, monaco, monospace; white-space: pre;">&lt;meta name="robots" content="noindex" /&gt;</span>
---++++ 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*
      1 [[Calibrate][Camera <u> *MUST* </u> be calibrated]]
      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*
      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, [[BB2Driver][run the stereo_camera node]].
      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 <b>decimation_x </b>and <b>decimation_y </b>to *value="4"* for both <b>left_decimator </b>and *right_decimator*
         * (better image) for 3.5 FPS on the robot and 2.6 FPS on the server, set <b>decimation_x </b>and <b>decimation_y </b>to *value="2"* for both <b>left_decimator </b>and *right_decimator*
      1 On the server/robot, in a new terminal, run <b>ROS_NAMESPACE=camera_crop rosrun stereo_image_proc stereo_image_proc _approximate_sync:=True<br /></b>
      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*
         * <b>ELSE </b>please adjust according to the image of the parameters on the bottom
      1 %RED%Optional (disparity to depth -- not tested yet)%ENDCOLOR%:
         1 On the server, in a new terminal, *cd /opt/ros/indigo/share/rtabmap_ros/launch*
         1 Run *roslaunch rtabmap_ros disparity_to_dep.launch*

   1 To view the disparity map alongside the disparity image, use: *"rosrun image_view stereo_view stereo:=/camera_crop image:=image_rect"*
   1 To view the disparity map alone, use "<b>rosrun image_view disparity_view image:=/camera_crop/disparity</b>"
   1 To view the depth_map use: <b>"rosrun image_view image_view image:=/depth_raw" (%RED%HAS NOT BEEN TESTED%ENDCOLOR%)<br /></b>
   1 To view pointcloud, use: "<b>rosrun rviz rviz"</b> <u> *AND* </u> set the Fixed Frame to *stereo_camera*
<img alt="Screenshot_from_2019-04-08_112756.png" height="350" src="%ATTACHURL%/Screenshot_from_2019-04-08_112756.png" title="Screenshot_from_2019-04-08_112756.png" width="1301" />
<span>
<img alt="Screenshot_from_2019-04-08_112631.png" height="350" src="%ATTACHURL%/Screenshot_from_2019-04-08_112631.png" title="Screenshot_from_2019-04-08_112631.png" width="1301" />
 <img alt="Screenshot_from_2019-04-08_112502.png" height="350" src="%ATTACHURL%/Screenshot_from_2019-04-08_112502.png" title="Screenshot_from_2019-04-08_112502.png" width="1200" /></span>

   * There's more information at the following links:
      * <a data-saferedirecturl="https://www.google.com/url?q=http://wiki.ros.org/stereo_image_proc&source=gmail&ust=1552486666447000&usg=AFQjCNFK-ZMqAEUvvyFzgZe9byY2GXLdjw" href="http://wiki.ros.org/stereo_image_proc" target="_blank">http://wiki.ros.org/stereo_image_proc</a>
      * <a data-saferedirecturl="https://www.google.com/url?q=http://wiki.ros.org/rtabmap_ros&source=gmail&ust=1552486666447000&usg=AFQjCNEy4W_Zx2vBzeA6gK27JXuiEkoTYw" href="http://wiki.ros.org/rtabmap_ros" target="_blank">http://wiki.ros.org/rtabmap_ros</a>

---++ Permissions

   * Persons/group who can view/change the page:

   * 
   * Set ALLOWTOPICCHANGE = FRCVRoboticsGroup

-- (c) Fordham University Robotics and Computer Vision

Attachments

Topic attachments
I	Attachment	History	Action	Size	Date	Who	Comment
cfg	Disparity.cfg	r1	manage	2.5 K	2019-04-08 - 14:22	LabTech	rqt disparity configuration
png	Screenshot_from_2019-04-04_133312.png	r1	manage	124.0 K	2019-04-04 - 17:34	LabTech	Configuration for rqt_reconfigure
launch	disparity_to_dep.launch	r1	manage	0.3 K	2019-03-12 - 14:29	LabTech	disparity to depth launch file
launch	raw_decimate.launch	r1	manage	1.5 K	2019-05-02 - 17:30	LabTech	decimate launch file

Topic revision: r14 - 2019-05-03 - LabTech