wanlong0827
commented
8 years ago I modify tracklive_usb.launch：
<node
pkg="visp_auto_tracker"type="visp_auto_tracker"name="visp_auto_tracker"output="screen">
<param name="model_path" value="$(find visp_auto_tracker)/models" />
<param name="model_name" value="pattern" />
<param name="debug_display" value="True" />
<remap from="/visp_auto_tracker/camera_info" to="/dji_sdk/camera_info"/>
<remap from="/visp_auto_tracker/image_raw" to="/dji_sdk/image_raw"/><node pkg="dji_sdk_read_cam" type="dji_sdk_read_cam" name="dji_sdk_read_cam"
output="screen">
<param name="image_width" value="640" />
<param name="image_height" value="480" />
<param name="video_device" value="/dev/video0" />
<param name="pixel_format" value="yuyv" />
<!-- rename the camera name topic into /camera/image_raw to match the one in visp_auto_tracker/models/calibration.ini file -->
<param name="camera_name" value="/camera/image_raw" />
<param name="camera_info_url" value="package://visp_auto_tracker/models/calibration.ini" type="string" />
fspindle
Hi, I'm trying to use visp_auto_tracker but I'm stuck on this issue: It has worked when roslaunch visp_auto_tracker tracklive_usb.launch by my computer's camera. But when I run with external camera of MAV ,I encountered some problems.
Then I roslaunch visp_auto_tracker tracklive_usb.launch ,here are always some problems like:
... logging to /home/ubuntu/.ros/log/fb150e98-36e3-11e6-a395-1dc4271d6692/roslaunch-tegra-ubuntu-7507.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://tegra-ubuntu:44260/
SUMMARY
PARAMETERS
NODES / dji_sdk_read_cam (dji_sdk_read_cam/dji_sdk_read_cam) visp_auto_tracker (visp_auto_tracker/visp_auto_tracker)
auto-starting new master process[master]: started with pid [7518] ROS_MASTER_URI=http://localhost:11311
setting /run_id to fb150e98-36e3-11e6-a395-1dc4271d6692 process[rosout-1]: started with pid [7531] started core service [/rosout] /opt/ros/indigo/lib/python2.7/dist-packages/roslib/packages.py:447: UnicodeWarning: Unicode equal comparison failed to convert both arguments to Unicode - interpreting them as being unequal if resource_name in files: process[visp_auto_tracker-2]: started with pid [7548] process[dji_sdk_read_cam-3]: started with pid [7549] 0 [ INFO] [1466426349.298328831]: model full path=/home/ubuntu/dutRacing/src/vision_visp/visp_auto_tracker/models/pattern [ INFO] [1466426349.302621247]: Model content=#VRML V2.0 utf8
DEF fst_0 Group { children [
Object "cube"
Shape {
geometry DEF cube IndexedFaceSet {
coord Coordinate { point [ -0.0765 -0.0765 0.000 0.0765 -0.0765 0.000 0.0765 0.0765 0.000 -0.0765 0.0765 0.000 -0.03825 -0.03825 0.000
0.03825 -0.03825 0.000 0.03825 0.03825 0.000 -0.03825 0.03825 0.000 ] }
coordIndex [ 0,1,2,3,-1, 4,5,6,7,-1, ]} }
] }
starting tracker *** Parsing XML for Mb Edge Tracker **** ecm : mask : size : 5 ecm : mask : nb_mask : 180 ecm : range : tracking : 10 ecm : contrast : threshold 5000 ecm : contrast : mu1 0.5 ecm : contrast : mu2 0.5 sample : sample_step : 4 sample : n_total_sample : 250 klt : Mask Border : 0 klt : Max Features : 10000 klt : Windows Size : 5 klt : Quality : 0.05 klt : Min Distance : 20 klt : Harris Parameter : 0.01 klt : Block Size : 3 klt : Pyramid Levels : 3 face : Angle Appear : 75 face : Angle Disappear : 75 camera : u0 : 192 (default) camera : v0 : 144 (default) camera : px : 600 (default) camera : py : 600 (default) lod : use lod : 0 (default) lod : min line length threshold : 50 (default) lod : min polygon area threshold : 2500 (default) (L0) !! /ViSP/src/tracking/mbt/vpMbTracker.cpp: loadVRMLModel(#1115) : coin not detected with ViSP, cannot load model : /home/ubuntu/dutRacing/src/vision_visp/visp_auto_tracker/models/pattern.wrl terminate called after throwing an instance of 'vpException' what(): coin not detected with ViSP, cannot load model [visp_auto_tracker-2] process has died [pid 7548, exit code -6, cmd /home/ubuntu/dutRacing/devel/lib/visp_auto_tracker/visp_auto_tracker /visp_auto_tracker/camera_info:=/dji_sdk/camera_info /visp_auto_tracker/image_raw:=/dji_sdk/image_raw name:=visp_auto_tracker log:=/home/ubuntu/.ros/log/fb150e98-36e3-11e6-a395-1dc4271d6692/visp_auto_tracker-2.log]. log file: /home/ubuntu/.ros/log/fb150e98-36e3-11e6-a395-1dc4271d6692/visp_auto_tracker-2*.log
in addition ，I install ViSP from source