search

CCNYRoboticsLab / ccny_rgbd_tools

ccny_rgbd_tools
GNU Lesser General Public License v3.0
125 stars 76 forks source link

I cannot build 3DMap #23

Open stmoon opened 10 years ago

stmoon commented 10 years ago

Hi ..

I run like below roslaunch ccny_openni_launch openni.launch publish_cloud:=true roslaunch ccny_rgbd vo+mapping.launch

However, I can't build 3d map

I think I have mistake of rviz configuration, because I use groovy.

Could you check the rviz configuration?

Panels:

- Alpha: 0.5
  Cell Size: 1
  Class: rviz/Grid
  Color: 160; 160; 164
  Enabled: true
  Line Style:
    Line Width: 0.03
    Value: Lines
  Name: Grid
  Normal Cell Count: 0
  Offset:
    X: 0
    Y: 0
    Z: 0
  Plane: XY
  Plane Cell Count: 10
  Reference Frame: <Fixed Frame>
  Value: true
- Class: rviz/TF
  Enabled: true
  Frame Timeout: 15
  Frames:
    /camera_link:
      Value: true
    /camera_rgb_frame:
      Value: true
    /camera_rgb_optical_frame:
      Value: true
    /odom:
      Value: true
    All Enabled: false
  Marker Scale: 1
  Name: TF
  Show Arrows: true
  Show Axes: true
  Show Names: true
  Tree:
    /odom:
      /camera_link:
        /camera_rgb_frame:
          /camera_rgb_optical_frame:
            {}
  Update Interval: 0
  Value: true
- Alpha: 0.2
  Autocompute Intensity Bounds: true
  Autocompute Value Bounds:
    Max Value: 10
    Min Value: -10
    Value: true
  Axis: Z
  Channel Name: intensity
  Class: rviz/PointCloud2
  Color: 255; 255; 255
  Color Transformer: RGB8
  Decay Time: 0
  Enabled: true
  Max Color: 255; 255; 255
  Max Intensity: 4096
  Min Color: 0; 0; 0
  Min Intensity: 0
  Name: RGBD Cloud
  Position Transformer: XYZ
  Queue Size: 10
  Selectable: true
  Size (Pixels): 3
  Size (m): 0.01
  Style: Points
  Topic: /rgbd/cloud
  Use Fixed Frame: true
  Use rainbow: true
  Value: true
- Alpha: 1
  Autocompute Intensity Bounds: true
  Autocompute Value Bounds:
    Max Value: 10
    Min Value: -10
    Value: true
  Axis: Z
  Channel Name: intensity
  Class: rviz/PointCloud2
  Color: 255; 255; 255
  Color Transformer: RGB8
  Decay Time: 0
  Enabled: true
  Max Color: 255; 255; 255
  Max Intensity: 4096
  Min Color: 0; 0; 0
  Min Intensity: 0
  Name: Keyframes
  Position Transformer: XYZ
  Queue Size: 10
  Selectable: true
  Size (Pixels): 3
  Size (m): 0.01
  Style: Points
  Topic: /keyframes
  Use Fixed Frame: true
  Use rainbow: true
  Value: true
- Alpha: 1
  Autocompute Intensity Bounds: true
  Autocompute Value Bounds:
    Max Value: 10
    Min Value: -10
    Value: true
  Axis: Z
  Channel Name: intensity
  Class: rviz/PointCloud2
  Color: 255; 255; 0
  Color Transformer: FlatColor
  Decay Time: 0
  Enabled: true
  Max Color: 255; 255; 255
  Max Intensity: 4096
  Min Color: 0; 0; 0
  Min Intensity: 0
  Name: Features
  Position Transformer: XYZ
  Queue Size: 10
  Selectable: true
  Size (Pixels): 3
  Size (m): 0.01
  Style: Points
  Topic: /feature/cloud
  Use Fixed Frame: true
  Use rainbow: true
  Value: true
- Alpha: 1
  Autocompute Intensity Bounds: true
  Autocompute Value Bounds:
    Max Value: 10
    Min Value: -10
    Value: true
  Axis: Z
  Channel Name: intensity
  Class: rviz/PointCloud2
  Color: 255; 139; 141
  Color Transformer: FlatColor
  Decay Time: 0
  Enabled: true
  Max Color: 255; 255; 255
  Max Intensity: 4096
  Min Color: 0; 0; 0
  Min Intensity: 0
  Name: Model
  Position Transformer: XYZ
  Queue Size: 10
  Selectable: true
  Size (Pixels): 3
  Size (m): 0.01
  Style: Points
  Topic: /model/cloud
  Use Fixed Frame: true
  Use rainbow: true
  Value: true
- Alpha: 1
  Buffer Length: 1
  Class: rviz/Path
  Color: 25; 255; 0
  Enabled: true
  Name: VO Path
  Topic: ""
  Value: true

Enabled: true Global Options: Background Color: 0; 0; 56 Fixed Frame: /odom Name: root Tools:

ubuntuslave commented 10 years ago

Yes, that's more likely your problem. Jus reconfigure a new rviz view from scratch.

Carlos Jaramillo

On Sep 12, 2013, at 9:02 PM, stmoon notifications@github.com<mailto:notifications@github.com> wrote:

Hi ..

I run like below roslaunch ccny_openni_launch openni.launch publish_cloud:=true roslaunch ccny_rgbd vo+mapping.launch

However, I can't build 3d map

I think I have mistake of rviz configuration, because I use groovy.

Could you check the rviz configuration?

Panels:

— Reply to this email directly or view it on GitHubhttps://github.com/ccny-ros-pkg/ccny_rgbd_tools/issues/23.

stmoon commented 10 years ago

Thank you.

Unfortunately, there is no rviz configuration for groovy (in githut, just include vcg) If you have new format for groovy, could you give me it?

2013/9/13 Carlos notifications@github.com

Yes, that's more likely your problem. Jus reconfigure a new rviz view from scratch.

Carlos Jaramillo

On Sep 12, 2013, at 9:02 PM, stmoon <notifications@github.com<mailto: notifications@github.com>> wrote:

Hi ..

I run like below roslaunch ccny_openni_launch openni.launch publish_cloud:=true roslaunch ccny_rgbd vo+mapping.launch

However, I can't build 3d map

I think I have mistake of rviz configuration, because I use groovy.

Could you check the rviz configuration?

Panels:

  • Class: rviz/Displays Help Height: 78 Name: Displays Property Tree Widget: Expanded: - /Global Options1 - /Status1 - /Grid1 - /TF1 - /RGBD Cloud1 - /Keyframes1 - /Features1 - /Model1 - /VO Path1 Splitter Ratio: 0.64094 Tree Height: 375
  • Class: rviz/Selection Name: Selection
  • Class: rviz/Tool Properties Expanded:
  • /2D Pose Estimate1
  • /2D Nav Goal1
  • /Publish Point1 Name: Tool Properties Splitter Ratio: 0.588679
  • Class: rviz/Views Expanded:
  • /Current View1 Name: Views Splitter Ratio: 0.5
  • Class: rviz/Time Experimental: false Name: Time SyncMode: 0 SyncSource: RGBD Cloud Visualization Manager: Class: "" Displays:
  • Alpha: 0.5 Cell Size: 1 Class: rviz/Grid Color: 160; 160; 164 Enabled: true Line Style: Line Width: 0.03 Value: Lines Name: Grid Normal Cell Count: 0 Offset: X: 0 Y: 0 Z: 0 Plane: XY Plane Cell Count: 10 Reference Frame: Value: true
  • Class: rviz/TF Enabled: true Frame Timeout: 15 Frames: /camera_link: Value: true /camera_rgb_frame: Value: true /camera_rgb_optical_frame: Value: true /odom: Value: true All Enabled: false Marker Scale: 1 Name: TF Show Arrows: true Show Axes: true Show Names: true Tree: /odom: /camera_link: /camera_rgb_frame: /camera_rgb_optical_frame: {} Update Interval: 0 Value: true
  • Alpha: 0.2 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 255 Color Transformer: RGB8 Decay Time: 0 Enabled: true Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: RGBD Cloud Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.01 Style: Points Topic: /rgbd/cloud Use Fixed Frame: true Use rainbow: true Value: true
  • Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 255 Color Transformer: RGB8 Decay Time: 0 Enabled: true Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: Keyframes Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.01 Style: Points Topic: /keyframes Use Fixed Frame: true Use rainbow: true Value: true
  • Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 0 Color Transformer: FlatColor Decay Time: 0 Enabled: true Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: Features Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.01 Style: Points Topic: /feature/cloud Use Fixed Frame: true Use rainbow: true Value: true
  • Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 139; 141 Color Transformer: FlatColor Decay Time: 0 Enabled: true Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: Model Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.01 Style: Points Topic: /model/cloud Use Fixed Frame: true Use rainbow: true Value: true
  • Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 25; 255; 0 Enabled: true Name: VO Path Topic: "" Value: true Enabled: true Global Options: Background Color: 0; 0; 56 Fixed Frame: /odom Name: root Tools:
  • Class: rviz/Interact Hide Inactive Objects: true
  • Class: rviz/MoveCamera
  • Class: rviz/Select
  • Class: rviz/FocusCamera
  • Class: rviz/Measure
  • Class: rviz/SetInitialPose Topic: /initialpose
  • Class: rviz/SetGoal Topic: /move_base_simple/goal
  • Class: rviz/PublishPoint Single click: true Topic: /clicked_point Value: true Views: Current: Class: rviz/Orbit Distance: 4.3642 Focal Point: X: 0 Y: 0 Z: 0 Name: Current View Near Clip Distance: 0.01 Pitch: 0.6398 Target Frame: Value: Orbit (rviz) Yaw: 2.9754 Saved: ~ Window Geometry: Displays: collapsed: false Height: 876 Hide Left Dock: false Hide Right Dock: false QMainWindow State: 000000ff00000000fd00000004000000000000013c000002e1fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000206000000dd00fffffffb0000000a005600690065007700730100000234000000d5000000b000fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002bdfc0200000002fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000 000fb000 0001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005ff0000003ffc0100000002fb0000000800540069006d00650100000000000005ff000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004bd000002e100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false Views: collapsed: false Width: 1535 X: 57 Y: -5

— Reply to this email directly or view it on GitHub< https://github.com/ccny-ros-pkg/ccny_rgbd_tools/issues/23>.

— Reply to this email directly or view it on GitHubhttps://github.com/ccny-ros-pkg/ccny_rgbd_tools/issues/23#issuecomment-24368366 .

ubuntuslave commented 10 years ago

Please, Run rviz and subscribe to the desired topics on the desired frame. It's a bad idea to play blind without knowing what all this means (I have made that's stake myself in the past by trying to use other ROS projects blindly). I suggest you to understand how topics and messages in ROS work. There are lots of tutorials on this. I don't have the new Rviz myself. I'm still working on Fuerte.

Good luck!

On Sep 13, 2013, at 12:34 AM, stmoon notifications@github.com<mailto:notifications@github.com> wrote:

Thank you.

Unfortunately, there is no rviz configuration for groovy (in githut, just include vcg) If you have new format for groovy, could you give me it?

2013/9/13 Carlos notifications@github.com<mailto:notifications@github.com>

Yes, that's more likely your problem. Jus reconfigure a new rviz view from scratch.

Carlos Jaramillo

On Sep 12, 2013, at 9:02 PM, stmoon notifications@github.com<mailto:notifications@github.com<mailto: notifications@github.commailto:notifications@github.com>> wrote:

Hi ..

I run like below roslaunch ccny_openni_launch openni.launch publish_cloud:=true roslaunch ccny_rgbd vo+mapping.launch

However, I can't build 3d map

I think I have mistake of rviz configuration, because I use groovy.

Could you check the rviz configuration?

Panels:

  • Class: rviz/Displays Help Height: 78 Name: Displays Property Tree Widget: Expanded: - /Global Options1 - /Status1 - /Grid1 - /TF1 - /RGBD Cloud1 - /Keyframes1 - /Features1 - /Model1 - /VO Path1 Splitter Ratio: 0.64094 Tree Height: 375
  • Class: rviz/Selection Name: Selection
  • Class: rviz/Tool Properties Expanded:
  • /2D Pose Estimate1
  • /2D Nav Goal1
  • /Publish Point1 Name: Tool Properties Splitter Ratio: 0.588679
  • Class: rviz/Views Expanded:
  • /Current View1 Name: Views Splitter Ratio: 0.5
  • Class: rviz/Time Experimental: false Name: Time SyncMode: 0 SyncSource: RGBD Cloud Visualization Manager: Class: "" Displays:
  • Alpha: 0.5 Cell Size: 1 Class: rviz/Grid Color: 160; 160; 164 Enabled: true Line Style: Line Width: 0.03 Value: Lines Name: Grid Normal Cell Count: 0 Offset: X: 0 Y: 0 Z: 0 Plane: XY Plane Cell Count: 10 Reference Frame: Value: true
  • Class: rviz/TF Enabled: true Frame Timeout: 15 Frames: /camera_link: Value: true /camera_rgb_frame: Value: true /camera_rgb_optical_frame: Value: true /odom: Value: true All Enabled: false Marker Scale: 1 Name: TF Show Arrows: true Show Axes: true Show Names: true Tree: /odom: /camera_link: /camera_rgb_frame: /camera_rgb_optical_frame: {} Update Interval: 0 Value: true
  • Alpha: 0.2 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 255 Color Transformer: RGB8 Decay Time: 0 Enabled: true Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: RGBD Cloud Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.01 Style: Points Topic: /rgbd/cloud Use Fixed Frame: true Use rainbow: true Value: true
  • Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 255 Color Transformer: RGB8 Decay Time: 0 Enabled: true Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: Keyframes Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.01 Style: Points Topic: /keyframes Use Fixed Frame: true Use rainbow: true Value: true
  • Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 255; 0 Color Transformer: FlatColor Decay Time: 0 Enabled: true Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: Features Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.01 Style: Points Topic: /feature/cloud Use Fixed Frame: true Use rainbow: true Value: true
  • Alpha: 1 Autocompute Intensity Bounds: true Autocompute Value Bounds: Max Value: 10 Min Value: -10 Value: true Axis: Z Channel Name: intensity Class: rviz/PointCloud2 Color: 255; 139; 141 Color Transformer: FlatColor Decay Time: 0 Enabled: true Max Color: 255; 255; 255 Max Intensity: 4096 Min Color: 0; 0; 0 Min Intensity: 0 Name: Model Position Transformer: XYZ Queue Size: 10 Selectable: true Size (Pixels): 3 Size (m): 0.01 Style: Points Topic: /model/cloud Use Fixed Frame: true Use rainbow: true Value: true
  • Alpha: 1 Buffer Length: 1 Class: rviz/Path Color: 25; 255; 0 Enabled: true Name: VO Path Topic: "" Value: true Enabled: true Global Options: Background Color: 0; 0; 56 Fixed Frame: /odom Name: root Tools:
  • Class: rviz/Interact Hide Inactive Objects: true
  • Class: rviz/MoveCamera
  • Class: rviz/Select
  • Class: rviz/FocusCamera
  • Class: rviz/Measure
  • Class: rviz/SetInitialPose Topic: /initialpose
  • Class: rviz/SetGoal Topic: /move_base_simple/goal
  • Class: rviz/PublishPoint Single click: true Topic: /clicked_point Value: true Views: Current: Class: rviz/Orbit Distance: 4.3642 Focal Point: X: 0 Y: 0 Z: 0 Name: Current View Near Clip Distance: 0.01 Pitch: 0.6398 Target Frame: Value: Orbit (rviz) Yaw: 2.9754 Saved: ~ Window Geometry: Displays: collapsed: false Height: 876 Hide Left Dock: false Hide Right Dock: false QMainWindow State: 000000ff00000000fd00000004000000000000013c000002e1fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000206000000dd00fffffffb0000000a005600690065007700730100000234000000d5000000b000fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002bdfc0200000002fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000 000fb000 0001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005ff0000003ffc0100000002fb0000000800540069006d00650100000000000005ff000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000004bd000002e100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 Selection: collapsed: false Time: collapsed: false Tool Properties: collapsed: false Views: collapsed: false Width: 1535 X: 57 Y: -5

— Reply to this email directly or view it on GitHub< https://github.com/ccny-ros-pkg/ccny_rgbd_tools/issues/23>.

— Reply to this email directly or view it on GitHubhttps://github.com/ccny-ros-pkg/ccny_rgbd_tools/issues/23#issuecomment-24368366 .

— Reply to this email directly or view it on GitHubhttps://github.com/ccny-ros-pkg/ccny_rgbd_tools/issues/23#issuecomment-24372603.