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durovsky / marker_pose_detection

Marker pose detection in ROS using Aruco library and pal_robotics Aruco ROS wrapper. Chessboard pose detection function is available as well
https://www.youtube.com/watch?v=RcMGsNf_CoM
BSD 2-Clause "Simplified" License
23 stars 17 forks source link

Catkin_make failed in indigo ?? #2

Open Abduoit opened 6 years ago

Abduoit commented 6 years ago

HI

Could u check the following error please ?

-- Could not find the required component 'pal_vision_segmentation'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found.
CMake Error at /opt/ros/indigo/share/catkin/cmake/catkinConfig.cmake:83 (find_package):
  Could not find a package configuration file provided by
  "pal_vision_segmentation" with any of the following names:

    pal_vision_segmentationConfig.cmake
    pal_vision_segmentation-config.cmake
JaouadROS commented 6 years ago

@Abduoit just comment that package (pal_vision_segmentation) in CMakeLists.txt, it should work

Abduoit commented 6 years ago

@JaouadROS when I comment it, the catkin_make finished properly but I could not find and launch the file

~/catkin_ws$ roslaunch marker_pose_detection viewpoint_estimation_genius_f100.launch
[viewpoint_estimation_genius_f100.launch] is neither a launch file in package [marker_pose_detection] nor is [marker_pose_detection] a launch file name
The traceback for the exception was written to the log file
JaouadROS commented 6 years ago

@Abduoit The package is called viewpoint_estimation so you're supposed to call it like that: roslaunch viewpoint_estimation viewpoint_estimation_genius_f100.launch

Abduoit commented 6 years ago

I launch it, then I get the following output but the webcam is not starting ??

abdulrahman@abdu:~$ roslaunch viewpoint_estimation viewpoint_estimation_genius_f100.launch 
... logging to /home/abdulrahman/.ros/log/4c211bb4-0065-11e8-80ec-3c970eeb89f7/roslaunch-abdu-18278.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://abdu:46033/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.21
 * /usb_cam/camera_frame_id: usb_cam
 * /usb_cam/image_height: 720
 * /usb_cam/image_width: 1280
 * /usb_cam/io_method: mmap
 * /usb_cam/pixel_format: mjpeg
 * /usb_cam/video_device: /dev/video0
 * /viewpoint_estimation/calibration_file: /home/durovsky/ca...

NODES
  /
    usb_cam (usb_cam/usb_cam_node)
    viewpoint_estimation (viewpoint_estimation/viewpoint_estimation)

auto-starting new master
process[master]: started with pid [18290]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 4c211bb4-0065-11e8-80ec-3c970eeb89f7
process[rosout-1]: started with pid [18303]
started core service [/rosout]
process[usb_cam-2]: started with pid [18311]
process[viewpoint_estimation-3]: started with pid [18321]
Reading calibration file from: /home/durovsky/catkin_ws/src/OpenCV_Library/viewpoint_estimation/data/geniusf100_calibration.txt
[ WARN] [1516729571.016018741]: WARNING: Suspicious calibration data
[ INFO] [1516729571.091805490]: using default calibration URL
[ INFO] [1516729571.091879700]: camera calibration URL: file:///home/abdulrahman/.ros/camera_info/head_camera.yaml
[ INFO] [1516729571.091927944]: Unable to open camera calibration file [/home/abdulrahman/.ros/camera_info/head_camera.yaml]
[ WARN] [1516729571.091951108]: Camera calibration file /home/abdulrahman/.ros/camera_info/head_camera.yaml not found.
[ INFO] [1516729571.091981628]: Starting 'head_camera' (/dev/video0) at 1280x720 via mmap (mjpeg) at 30 FPS
[ WARN] [1516729571.468449960]: white_balance_temperature_auto: Input/output error
VIDIOC_S_CTRL: failed: Input/output error

[ WARN] [1516729571.476447277]: unknown control 'focus_auto'
Abduoit commented 6 years ago

I even changed the path to calibration_file: "/home/abdulrahman/catkin_ws/src/viewpoint_estimation/data/geniusf100_calibration.txt" but still same issue

JaouadROS commented 6 years ago

Are you sure your package is in viewpoint_estimation folder? or in marker_pose_detection?

Abduoit commented 6 years ago

the package inside marker_pose_detection I cloned it in /home/abdulrahman/catkin_ws/src/marker_pose_detection so I suppose to launch it like this roslaunch marker_pose_detection viewpoint_estimation_genius_f100.launch but it's not found

Abduoit commented 6 years ago

I tried roslaunch viewpoint_estimation viewpoint_estimation_genius_f100.launch

but the webcam not starting

JaouadROS commented 6 years ago

viewpoint_estimation is the name of the package and marker_pose_detection is the name of the folder where the package is. The name of the package is defined in CMakeLists.txt roslaunch viewpoint_estimation viewpoint_estimation_genius_f100.launch is correct but your path to your calibration file is wrong, I believe it should be: /home/abdulrahman/catkin_ws/src/marker_pose_detection/data/geniusf100_calibration.txt

Abduoit commented 6 years ago

I changed the path to the file calibration, but still same issue

you can check from below output 

roslaunch viewpoint_estimation viewpoint_estimation_genius_f100.launch
... logging to /home/abdulrahman/.ros/log/09ab4e8e-007a-11e8-ab4c-3c970eeb89f7/roslaunch-abdu-9893.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://abdu:39742/

SUMMARY
========

PARAMETERS
 * /rosdistro: indigo
 * /rosversion: 1.11.21
 * /usb_cam/camera_frame_id: usb_cam
 * /usb_cam/image_height: 720
 * /usb_cam/image_width: 1280
 * /usb_cam/io_method: mmap
 * /usb_cam/pixel_format: mjpeg
 * /usb_cam/video_device: /dev/video0
 * /viewpoint_estimation/calibration_file: /home/abdulrahman...

NODES
  /
    usb_cam (usb_cam/usb_cam_node)
    viewpoint_estimation (viewpoint_estimation/viewpoint_estimation)

auto-starting new master
process[master]: started with pid [9905]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 09ab4e8e-007a-11e8-ab4c-3c970eeb89f7
process[rosout-1]: started with pid [9921]
started core service [/rosout]
process[usb_cam-2]: started with pid [9929]
process[viewpoint_estimation-3]: started with pid [9939]
Reading calibration file from: /home/abdulrahman/catkin_ws/src/marker_pose_detection/data/geniusf100_calibration.txt
Intrinsics:
[466.413627, 0, 644.2333609999999;
  0, 465.482851, 358.583715;
  0, 0, 1]
Distortion: [-0.024277; -0.008071999999999999; 0.000164; -0.000396; 0]
[ INFO] [1516738478.945137577]: Calibration file loaded successfully
[ INFO] [1516738479.046621330]: using default calibration URL
[ INFO] [1516738479.046707949]: camera calibration URL: file:///home/abdulrahman/.ros/camera_info/head_camera.yaml
[ INFO] [1516738479.046774114]: Unable to open camera calibration file [/home/abdulrahman/.ros/camera_info/head_camera.yaml]
[ WARN] [1516738479.046807527]: Camera calibration file /home/abdulrahman/.ros/camera_info/head_camera.yaml not found.
[ INFO] [1516738479.046851354]: Starting 'head_camera' (/dev/video0) at 1280x720 via mmap (mjpeg) at 30 FPS
[ WARN] [1516738479.420430186]: white_balance_temperature_auto: Input/output error
VIDIOC_S_CTRL: failed: Input/output error

[ WARN] [1516738479.428461613]: unknown control 'focus_auto'
JaouadROS commented 6 years ago

It is true that your camera driver is not getting the camera parameters but it doesn't matter. As you can see your package is saying Calibration file loaded successfully which means that you can compute the pose of the camera when the marker is detected. You're package is working fine!

Abduoit commented 6 years ago

yes, but there is no webcam I can not see the rgb image

Abduoit commented 6 years ago

I could see the image in rviz but the tf still not moving

should I use same AR tag that u r using, if so would you send please ?

Abduoit commented 6 years ago

I searched for the marker that you are using in aruco library but I could not find it could you please share it

durovsky commented 6 years ago

Here is a doc file with several markers: https://drive.google.com/open?id=0B5F9t8AjEoHyNDd1bFRnN3YxYmc

Abduoit commented 6 years ago

Thank you very much, now it is working in rviz

but I don't get the rgb window like you,

even when I run rqt_image_view I don't see the bounding red shape around the aruco marker, I only can see the raw image,

what should I do ??