hello!
I installed Ubuntu 12.04 +Fuerte and installed lsd-slam without openFabMap. and run the lsd-slam successfully with LSD_room.bag. But there are some problems when I running live_slam.
The steps is as following:
1.To connect ordinary USB camera.I installed cheese
$sudo apt-get install cheese
then :$ cheese
and it works well.
installed ros-fuerte-camera-umd
$ sudo apt-get install ros-fuerte-camera-umd
$ roscd uvc_camera
and it works well
3.change the camera_node.launch file in the path of /opt/ros/fuerte/stacks/camera_umd/uvc_camera
camera_node.launch is as following:
run ros
$ roscore
$rosrun lsd_slam_viewer viewer
then
$roslaunch uvc_camera camera_node.launch
BUT there are some wrong:
... logging to /home/liuxunqian/.ros/log/63e8d5e0-41b6-11e5-93c7-902b34dc47f8/roslaunch-liuxunqian-To-be-filled-by-O-E-M-4637.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.
core service [/rosout] found
process[uvc_camera-1]: started with pid [4657]
[ INFO] [1439469213.894798576]: using default calibration URL
[ INFO] [1439469213.894896479]: camera calibration URL: file:///home/liuxunqian/.ros/camera_info/camera.yaml
[uvc_camera-1] process has died [pid 4657, exit code -11, cmd /opt/ros/fuerte/stacks/camera_umd/uvc_camera/bin/camera_node __name:=uvc_camera __log:=/home/liuxunqian/.ros/log/63e8d5e0-41b6-11e5-93c7-902b34dc47f8/uvc_camera-1.log].
log file: /home/liuxunqian/.ros/log/63e8d5e0-41b6-11e5-93c7-902b34dc47f8/uvc_camera-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done
SO,there are something wrong when I run "roslaunch uvc_camera camera_node.launch" :
[uvc_camera-1] process has died [pid 4657, exit code -11, cmd /opt/ros/fuerte/stacks/camera_umd/uvc_camera/bin/camera_node __name:=uvc_camera __log:=/home/liuxunqian/.ros/log/63e8d5e0-41b6-11e5-93c7-902b34dc47f8/uvc_camera-1.log].
log file: /home/liuxunqian/.ros/log/63e8d5e0-41b6-11e5-93c7-902b34dc47f8/uvc_camera-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete.
hello! I installed Ubuntu 12.04 +Fuerte and installed lsd-slam without openFabMap. and run the lsd-slam successfully with LSD_room.bag. But there are some problems when I running live_slam.
The steps is as following: 1.To connect ordinary USB camera.I installed cheese $sudo apt-get install cheese then :$ cheese and it works well.
BUT there are some wrong:
... logging to /home/liuxunqian/.ros/log/63e8d5e0-41b6-11e5-93c7-902b34dc47f8/roslaunch-liuxunqian-To-be-filled-by-O-E-M-4637.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://liuxunqian-To-be-filled-by-O-E-M:56978/
SUMMARY
PARAMETERS
NODES / uvc_camera (uvc_camera/camera_node)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found process[uvc_camera-1]: started with pid [4657] [ INFO] [1439469213.894798576]: using default calibration URL [ INFO] [1439469213.894896479]: camera calibration URL: file:///home/liuxunqian/.ros/camera_info/camera.yaml [uvc_camera-1] process has died [pid 4657, exit code -11, cmd /opt/ros/fuerte/stacks/camera_umd/uvc_camera/bin/camera_node __name:=uvc_camera __log:=/home/liuxunqian/.ros/log/63e8d5e0-41b6-11e5-93c7-902b34dc47f8/uvc_camera-1.log]. log file: /home/liuxunqian/.ros/log/63e8d5e0-41b6-11e5-93c7-902b34dc47f8/uvc_camera-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done
the camera.yaml file : image_width: 640 image_height: 480 camera_name: /dev/video0 camera_matrix: rows: 3 cols: 3 data: [430.215550,0.000000 ,306.691343, 0.000000, 430.531693 ,227.224800,0.000000 ,0.000000 ,1.000000] distortion_model: plumb_bob distortion_coefficients: rows: 1 cols: 5 data: [-0.337586 ,0.111612, -0.000218, -0.000030, 0.0000] rectification_matrix: rows: 3 cols: 3 data: [1, 0, 0, 0, 1, 0, 0, 0, 1] projection_matrix: rows: 3 cols: 4 data: [1.000000,0.000000, 0.000000, 0.000000, 0.000000 1.000000 0.000000 0.000000, 0.000000, 0.000000 1.000000,0.000000]
BUT there are some problems too,there is no DebugWindow DEPTH and pointcloud Viewer shows nothing. the Terminal shows as follows:
Reading Calibration from file /home/liuxunqian/project/fuerte_workspace/sandbox/cameraCalibration.cfg ... found! found ATAN camera model, building rectifier. Input resolution: 640 480 In: 0.527334 0.827306 0.473568 0.499436 0.928161 Out: Crop Output resolution: 640 480 new K: 263.714844 382.604309 289.290497 239.163208 old K: 337.493744 397.106873 302.583527 239.229279 Prepped Warp matrices Started optimization thread Started mapping thread! Started constraint search thread!
cameraCalibration.cfg file is： -0.337586 0.111612 -0.000218 -0.000030 0.0000 640 480 crop 640 480
SO,there are something wrong when I run "roslaunch uvc_camera camera_node.launch" : [uvc_camera-1] process has died [pid 4657, exit code -11, cmd /opt/ros/fuerte/stacks/camera_umd/uvc_camera/bin/camera_node __name:=uvc_camera __log:=/home/liuxunqian/.ros/log/63e8d5e0-41b6-11e5-93c7-902b34dc47f8/uvc_camera-1.log]. log file: /home/liuxunqian/.ros/log/63e8d5e0-41b6-11e5-93c7-902b34dc47f8/uvc_camera-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete.
HOW to solve the problem, HELP me, PLEASE!