No pose change

[aswinthomas]

Hi, I am trying to get the odometry running using my kinect. Following is my launch file: https://dl.dropboxusercontent.com/u/8948006/dvo_odo.launch

Openni is already sending depth registered images.

I also modified CameraBase constructor to update topic names: rgb_imagesubscriber(nh, "camera/rgb/image_rect_mono", 1), depth_imagesubscriber(nh, "/camera/depth_registered/hw_registered/image_rect_raw", 1), rgb_camera_infosubscriber(nh, "camera/rgb/camera_info", 1), depth_camera_infosubscriber(nh, "camera/depth_registered/camera_info", 1),

I am able to see "camera/rgb/image_rect_mono" and "/camera/depth_registered/hw_registered/image_rect_raw" in rviz. I can also view pointcloud published "/cloud" and pose ("/rgbd/pose"). However the pose does not change when I move the kinect. It constantly has a short high frequency vibration.

Output of running the launch file: started roslaunch server http://192.168.1.13:56013/

SUMMARY

PARAMETERS

• /camera_tracker/reconstruction
• /camera_tracker/run_dense_tracking
• /camera_tracker/use_dense_tracking_estimate
• /camera_tracker/use_weighting
• /rosdistro
• /rosversion

NODES / camera_tracker (dvo_ros/camera_tracker)

ROS_MASTER_URI=http://localhost:11311/

core service [/rosout] found process[camera_tracker-1]: started with pid [20215] CameraDenseTracker::ctor(...) config.run_dense_tracking:1 config.use_dense_tracking_estimate:1 reconfigured tracker, config ( First Level = 3, Last Level = 1, Max Iterations per Level = 50, Precision = 0.0001, Mu = 0, Use Initial Estimate = true, Use Weighting = true, Scale Estimator = TDistribution, Scale Estimator Param = 5, Influence Function = TDistribution, Influence Function Param = 5, Intensity Derivative Threshold = 0, Depth Derivative Threshold = 0 ) using identity! transformation: base_link -> asus 1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1 started camera_tracker... RGB image size has changed, resetting tracker! x:0.00 y:0.00 z:0.00 roll:0.00 pitch:0.00 yaw:-0.00 match: 0.00801919 x:0.00 y:-0.00 z:-0.00 roll:0.00 pitch:-0.00 yaw:-0.00 match: 0.00740023 x:0.00 y:-0.00 z:-0.00 roll:0.00 pitch:-0.00 yaw:-0.00 match: 0.00765328 match: 0.00754171 x:0.00 y:-0.01 z:-0.00 roll:0.00 pitch:-0.00 yaw:-0.00 match: 0.0076491 callback: 0.00965808 x:0.00 y:0.01 z:0.00 roll:0.00 pitch:0.00 yaw:-0.00 match: 0.00582242 match: 0.00827256 x:0.00 y:0.01 z:0.00 roll:0.00 pitch:0.00 yaw:-0.00 match: 0.00754653 x:0.00 y:0.01 z:0.00 roll:0.00 pitch:0.00 yaw:-0.00 match: 0.00619464 match: 0.0062666 callback: 0.00881737 x:0.00 y:0.01 z:0.00 roll:0.00 pitch:0.00 yaw:-0.00 match: 0.00645015 x:0.00 y:0.01 z:0.00 roll:0.00 pitch:0.00 yaw:-0.00 match: 0.00671455 match: 0.00644076 x:0.00 y:0.02 z:0.00 roll:0.00 pitch:0.00 yaw:-0.00 match: 0.00683598 x:0.00 y:-0.02 z:-0.00 roll:0.00 pitch:-0.00 yaw:-0.00 match: 0.00648071 callback: 0.00843992 match: 0.00684254 x:0.00 y:-0.02 z:-0.00 roll:0.00 pitch:-0.00 yaw:-0.00 match: 0.00710994 x:0.00 y:0.02 z:0.00 roll:0.00 pitch:0.00 yaw:-0.00 match: 0.00689754 match: 0.00664394 x:0.00 y:0.02 z:0.00 roll:0.00 pitch:0.00 yaw:-0.00 match: 0.00658692 callback: 0.00886757 ...................

I printed out x,y,z to view the values, but no change. Any advice is appreciated.

Cheers Aswin

[christiankerl]

is your depth image topic in uint16 format? does the camera_info topic provide the correct parameters or at least any parameters?

[aswinthomas]

Thank you for your reply. The topic camera/depth_registered/hw_registered/image_rect_raw doesnt seem to correspond to the image topic camera/depth_registered/camera_info. I used camera/depth_registered/image_raw and it finally works now. Thank you.