Outdoor Stereo Mapping with ZED 3D camera

[sandmen]

Gent's,
I have setup the zed-ros wrapper successful on a Jetson TX1.
And I installed the binarys from rtab-map.

What I want to achieve, is to generate live outdoor stereo mapping :-)
But, really new to rtab-map, ROS...

What I did:
1. start the zed-ros-wraper  "roslaunch zed_wrapper zed.launch"
2. verify the images from camera via "rosrun image_view image_view image:=/camera/rgb/image_rect_color"
3. Look's fine
4. The zed wrapper has different formats you can see here... for example (/camera/depth/image_rect_color)
https://github.com/stereolabs/zed-ros-wrapper

Now back to my question :-)
How can I use the camera, and maybe the already existing deep information's with rtab-map-ros ?

Thanks for your help....

[matlabbe]

Hi,

With the ZED camera you have two choices:

1) Use RGB and Depth topics, then feed them to rgbd_mapping.launch like the RGB-D mapping tutorial:

$ roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start" rgb_topic:=/camera/rgb/image_rect_color depth_registered_topic:=/camera/depth/image_rect_color camera_info_topic:=/camera/rgb/camera_info

2) Use Left and Right topics, then feed them to stereo_mapping.launch like the Stereo mapping tutorial:

$ roslaunch rtabmap_ros stereo_mapping.launch rtabmap_args:="--delete_db_on_start" stereo_namespace:="/camera" right_image_topic:="/camera/left/image_rect_color"

You may also want to start the ZED launch with VGA resolution to reduce processing time.

cheers

[sandmen]

Thanks for the hint's. I try this.

[rtabmap/rtabmapviz-3] process has died [pid 5230, exit code -7, cmd /home/ubuntu/catkin_ws/devel/lib/rtabmap_ros/rtabmapviz -d /home/ubuntu/catkin_ws/src/rtabmap_ros/launch/config/rgbd_gui.ini rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth/image_rect_color rgb/camera_info:=/camera/rgb/camera_info scan:=/scan scan_cloud:=/scan_cloud __name:=rtabmapviz __log:=/home/ubuntu/.ros/log/7253d20e-04c2-11e6-8f3b-00904c112233/rtabmap-rtabmapviz-3.log].
log file: /home/ubuntu/.ros/log/7253d20e-04c2-11e6-8f3b-00904c112233/rtabmap-rtabmapviz-3*.log

But I already got all the time this failure about rtabmabviz!
Do you have also a hint for that?

Thanks
Peter

[matlabbe]

Hi,

If you do only:

$ roscore
$ rosrun rtabmap_ros rtabmapviz

is it crash too? If yes, it is maybe a compatibility problem with the machine (OpenGL...). You can launch the files above with "rtabmapviz:=false rviz:=true" to use RVIZ instead.

cheers

[sandmen]

Looks like :-(

after
rosrun rtabmap_ros rtabmapviz
[ INFO] [1460915121.252809455]: Starting node...
Bus-Zugriffsfehler

[sandmen]

Maybe the same problem... here
http://forum.odroid.com/viewtopic.php?f=99&t=14462

[matlabbe]

Is "pcl_viewer" working (to see if it is PCL visualization related)? You can also try to build rtabmap from source: https://github.com/introlab/rtabmap_ros#build-from-source

[sandmen]

got it working with
unset GTK_IM_MODULE
Ok, now I need to check all the parameter on rtabmap...

Thanks

[sandmen]

Gent's,
I have now the rtabmap_viz running.
Also the rtab-map is compiled from source.

Just one question,
is that GUI (see Chapter 3) the current GUI ?
Because, I didn't have any settings, just "break" and "reload"......
http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping


Greetings

[matlabbe]

Yes, the current GUI on ROS has only "Pause" and "Download all clouds" buttons. The other options were moved under Detection menu.

cheers

[sandmen]

I tested
<nabble_embed>$ roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start" rgb_topic:=/camera/rgb/image_rect_color depth_registered_topic:=/camera/depth/image_rect_color camera_info_topic:=/camera/rgb/camera_info</nabble_embed>
this configuration outdoor with Stereolabs ZED 3D.....

I lost the Odometry very fast, after initializing, I moved the camera for some "degresse" or for 1-2 meters,
I always lost the odometry (red screen).
Any hint's ?

Thanks

[matlabbe]

Hi,

The part "depth_registered_topic:=/camera/depth/image_rect_color" seems odd, as depth images don't have colors. Make sure you are subscribed to right depth image topic.

In general for outdoor stereo mapping, RTAB-Map should track most visual features under 10-15 meters (assuming a baseline between the cameras around 10-11 cm) to work appropriately. Another thing to check is if the depth image is good (camera is calibrated). You can open RVIZ with only the camera node running and show the point cloud of the camera (you can use DepthCloud plugin to test your topics above).

cheers

[grekery]

Hi,my problem is I can't get the mapdata in the rviz ,while there has no error in the terminal,can you help me?