Orb_slam2: no camera data ingestion for realsense r200

[jacksonkr]

Ubuntu 14.04 | 4.4.0-46-generic
ORB_SLAM2 1a3bc4bc9ca6501fd73042b0e05ae270ed7e6a0a

I've tried both monocular and rgbd with the same results. The app starts and I see a black screen with "waiting for images".

Screenshot:
http://imgur.com/a/1T01c

bash commands:

$ rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml 

ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.

Input sensor was set to: RGB-D

Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!


Camera Parameters: 
- fx: 517.306
- fy: 516.469
- cx: 318.643
- cy: 255.314
- k1: 0.262383
- k2: -0.953104
- k3: 1.16331
- p1: -0.005358
- p2: 0.002628
- fps: 30
- color order: RGB (ignored if grayscale)

ORB Extractor Parameters: 
- Number of Features: 1000
- Scale Levels: 8
- Scale Factor: 1.2
- Initial Fast Threshold: 20
- Minimum Fast Threshold: 7

Depth Threshold (Close/Far Points): 3.09294

[geokarant]

You may have to provide a .bag file. See the explanations in Orb slam v.1

Στις 4 Νοε 2016 17:34, ο χρήστης "Jackson" [email protected]
έγραψε:

Ubuntu 14.04 | 4.4.0-46-generic
ORB_SLAM2 master

I've tried both monocular and rgbd with the same results. The app starts
and I see a black screen with "waiting for images".

Screenshot:
http://imgur.com/a/1T01c

bash commands:

$ rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml

ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.

Input sensor was set to: RGB-D

Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!

Camera Parameters:

• fx: 517.306
• fy: 516.469
• cx: 318.643
• cy: 255.314
• k1: 0.262383
• k2: -0.953104
• k3: 1.16331
• p1: -0.005358
• p2: 0.002628
• fps: 30
• color order: RGB (ignored if grayscale)

ORB Extractor Parameters:

• Number of Features: 1000
• Scale Levels: 8
• Scale Factor: 1.2
• Initial Fast Threshold: 20
• Minimum Fast Threshold: 7

Depth Threshold (Close/Far Points): 3.09294

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[jacksonkr]

@geokarant A bag is a ros recording. Is orb slam 2 strictly offline only? I was under the impression that you could use it in realtime.

[geokarant]

You are right, of course it s for real time but I haven't tried it yet! I
think there is a webcam ros package or something.. I f you figure it out
let me know, please! Thank you in advance!!

Στις 4 Νοε 2016 19:43, ο χρήστης "Jackson" [email protected]
έγραψε:

@geokarant https://github.com/geokarant A bag is a ros recording. Is
orb slam 2 strictly offline only? I was under the impression that you could
use it in realtime.

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[jacksonkr]

I'm using an Intel RealSense r200. The package for that is ros-[distro]-realsense_camera. I'll give you an example with a kinect though:

sudo apt-get install ros-[distro]-openni-* # or freenect depending on which system you want
roscore & # you'll need ros installed, I recommend indigo http://wiki.ros.org/indigo/Installation
roslaunch openni_launch openni.launch # or freenect
rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml

That SHOULD be all but something must be missing because you won't see the live camera feed, you'll see that the slam is "waiting for images"

[geokarant]

Thank you very much, I ll try it too, and let you know!

Στις 4 Νοε 2016 20:08, ο χρήστης "Jackson" [email protected]
έγραψε:

I'm using an Intel RealSense r200. The package for that is
ros-[distro]-realsense_camera. I'll give you an example with a kinect
though:

sudo apt-get install ros-[distro]-openni-* # or freenect depending on which system you want
roscore & # you'll need ros installed, I recommend indigo http://wiki.ros.org/indigo/Installation
roslaunch openni_launch openni.launch # or freenect
rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml

That SHOULD be all but something must be missing because you won't see the
live camera feed, you'll see that the slam is "waiting for images"

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[jacksonkr]

I tried orbslam2 with the kinect v1 and it worked fine so I decided it was a topic naming issue, which it was.

The depth topic orb slam 2 is looking for is /camera/depth_registered/image_raw and the freenect_launch specifies this whereas the r200_nodelet does not, it instead maps depth to /camera/depth/image_raw. You can change the launch files themselves if you want but the easiest way to get going is by running the following:

$ rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml /camera/depth_registered/image_raw:=/camera/depth/image_raw

[Balaji-Govindaraj]

how to use usb camera for ros examples?

[geokarant]

Search on ros wiki for webcam_node for ros. I havent tried it but i know it
exists

2016-11-25 14:10 GMT+02:00 Balaji-Govindaraj [e-mail]:

how to use usb camera for ros examples?

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[farhanmubasher]

I tried orbslam2 with the kinect v1 and it worked fine so I decided it was a topic naming issue, which it was.

The depth topic orb slam 2 is looking for is /camera/depth_registered/image_raw and the freenect_launch specifies this whereas the r200_nodelet does not, it instead maps depth to /camera/depth/image_raw. You can change the launch files themselves if you want but the easiest way to get going is by running the following:

$ rosrun ORB_SLAM2 RGBD Vocabulary/ORBvoc.txt Examples/RGB-D/TUM1.yaml /camera/depth_registered/image_raw:=/camera/depth/image_raw

HI @jacksonkr ,
I'm facing same problem as you were that orb-slam2 is running and showing blank screen "Waiting for images",
I don't know how to run it with real time, what commands and launch files i have to change. I'm using kinetic version of ROS, and my camera topics are /stereo/left/image_raw and /stereo/right/image_raw.

I have no idea of freenect_launch,
Please help me how can i run it with real time. I will appreciate your time.

[jacksonkr]

@farhanmubasher This was a while ago so I can't quite remember the details. Either orb slam wouldn't work or I couldn't get it to do what I needed.

As far as freenect_launch is concerned it's part of the ros freenect package (ros-freenect / libfreenect) which can be used with the kinect v1.

Good luck!