Open ghost opened 5 years ago
Hi,
Can you record/share a small rosbag with the topics below and an object to detect in the field of view?
$ rosbag record phoxi_camera/rgb_texture phoxi_camera/depth_map camera_info tf tf_static
cheers, Mathieu
Thank you for answer,
Is it right? do you want to know?
I want to know what is camera_info in 3d.launch param. Phoxi_camera does not publish information like camera info.
This is phoxi param and topics list.
Thank you
Hi,
I solved the problem that mentioned earlier.
However, I have a new problem.
Do you know? What error is this?
The camera_info contains camera calibration required to transform a 2D point (u,v) with known depth (d) in 3D (X, Y, Z).
Can you show the published objects
topic when this happens?
This is objects topic echo.
It is an error text
Sorry, I want to solve myself but I don`t understand 3d pose estimator exactly.
Thank you.
It feels that the tf object_102
is not published, maybe because find_object cannot compute the 3D pose (depth image is wrong or calibration is wrong). You can also launch rqt_console to see better where the warning is coming from. You can also show what contains your camera_info message? if focal distances are valid... What also is the format of the depth map? (16UC1 in mm, 32FC1 in meters?)
The format is 32FC1 in meters. and I think that depth image(depth values) is not problem. I wonder that Camera_info message. Actually It is not published original package. So I made this topic. This is camera_info message that I made it. I only use header. Does it provoke any problem ?
This is rqt_graph and rviz commander error
At least K[4] (called fx) should be set in camera_info msg: https://github.com/introlab/find-object/blob/5489d5f4c4fad66df6e111dcefe274f8986bceb4/src/ros/CameraROS.cpp#L167 Setting to zero will create a NAN not handled by the code. It is maybe why resulting TF contains nan values.
You can find the camera matrix K by doing calibration of the RGB camera, see http://wiki.ros.org/camera_calibration/Tutorials/MonocularCalibration
Hello, I want to know why can not i use this 3d launch file? I
m using the Phoxi camera L model. when i first use find_object_2d.launch. it worked very well. why can
t i see images when using 3d.launch ? The connection is clear but why can not i use 3d pose this appi try to use find_object_3d.launch and find_object_3d_kinect.launch. these have same problem. plz solve this problem. and sorry it is my first use github^^;