search

ethz-asl / ethzasl_ptam

Modified version of Parallel Tracking and Mapping (PTAM)
http://wiki.ros.org/ethzasl_ptam
235 stars 184 forks source link

PTAM GUI issue #77

Closed AmaniEnac closed 8 years ago

AmaniEnac commented 8 years ago

Hello, I am new to PTAM and ROS. I followed the steps described in http://wiki.ros.org/indigo/Installation/Ubuntu (ubuntu 14.04 trusty) and http://wiki.ros.org/ethzasl_ptam to respectively install ros and PTAM, and the installation was ok. I am using a 1280x1024 monochrome UEYE 3240 CP camera (pixel_clock=35 , frame_rate=25 , exposure_time=4.5) with an horizontal FOV of about 60°. I tried to run the calibration tool (cameracalibrator.launch), but the video appearing on the GUI was blurred. This is a screenshot of the GUI.

capture d ecran de 2015-10-27 09 34 30

I thought that the problem was related to the laptop graphic card which is ATI, so I reinstalled both ROS and PTAM on a computer with an NVIDIA graphic card but I had the same problem. I tried to do calibration with the ROS calibration tool and I modified the PtamFixParams.yaml with the intrinsic parameters I found, then I disabled the PTAM GUI and launched ptam.launch and the remote_ptam node but I still had the same problem.

Do you have any idea about the origin of this problem? Thank you.

PS: when I run the command rosrun image_view image_view image:=image_raw the displayed images are clear.

AmaniEnac commented 8 years ago

Hello,

The problem was in the camera configuration. I had to run rqt_reconfigure of camera nodelet and change the color to COLOR_MONO