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can't get semantic octomap when running TUM rosbag #41
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And I get warning in terminal: |
I found "Intrinsic Camera Calibration of the Kinect" at https://vision.in.tum.de/data/datasets/rgbd-dataset/file_formats#intrinsic_camera_calibration_of_the_kinect fx = 525.0 # focal length x factor = 5000 # for the 16-bit PNG files OR: factor = 1 # for the 32-bit float images in the ROS bag filesfor v in range(depth_image.height): I changed fx, fy, cx, cy in semantic_cloud.yaml. What about the others ? |
Thank you for your enthusiastic reply! I saw your responses on many other question pages. After the rosbag playback is over, the terminal will still display the message "Dropped 9X.XX% of messages so far." |
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Hi, I used the Kinect camera to record my bag file, but I have the same problem as you. What parameters did you change? |
You need to modify two .yaml files, octomap_generator.yaml and semantic_cloud.yaml, to set the tree_type and point_type to 0. |
You should check your rosbag infomation by use |
Have you solved the “generate map breaks”? |
I tried --clock -r 0.6, 0.1 and 0.01 , it didn't work. |
Hi, I am also trying to run the TUM dataset. I checked your answer under this question and also question 34 and 40. but still no success in generating octomap using TUM's rosbag. |
Have you solved it? I'm having the same problem and it's still not solved after the same changes as you. |
Hi, I managed to get octomap, but I've had a very busy week lately, so maybe we can talk about it later
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主题: Re: [floatlazer/semantic_slam] can't get semantic octomap when running TUM rosbag (#41)
Hi, I am also trying to run the TUM dataset. I checked your answer under this question and also question 34 and 40. but still no success in generating octomap using TUM's rosbag. Here is what I tried: I modified a total of three files in semantic_cloud.yaml to change the camera fx,fy,cx,cy and changed the two topic names of rosd to "/camera/rgb/image_color" and "/camera/depth/image". In color_pcl_generator.yaml, I modified "Camera instrinsic matrix" and adjusted it to the same value as semantic_cloud.yaml, then I tried to modify lines 118,119 to divide by 5000 but it didn't seem to work. In semantic_slam.rviz, I first changed the Image Topic in line 219 to "/camera/rgb/image_color". Now I can see the semantic segmented image in rviz, but no octree map, I think this may be a misconfiguration of semantic_slam.rviz? I tried to change class/TF as you answered but after that rviz does not work, I had to change it back again, 。 I am not familiar with ROS,can you help me? Here are some of my result :
Have you solved it? I'm having the same problem and it's still not solved after the same changes as you.
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I was very excited to hear this news. I look forward to hearing from you about the solution when you are available! |
I have successfully run demo.bag . But when I tried to run TUM rosbag like "Handheld SLAM: fr1/room", I can't get semantic octomap in RVIZ.
![q](https://user-images.githubusercontent.com/59161044/113229242-20204680-92c9-11eb-9b2c-e46302b96ef4.png)
I have checked rosbag info:
bie@bie:~/ros_ws/Sem_SLAM/src/semantic_slam$ rosbag info demo.bag</br>
path: demo.bag
version: 2.0
duration: 52.8s
start: Jul 19 2018 21:51:27.18 (1532008287.18)
end: Jul 19 2018 21:52:19.99 (1532008339.99)
size: 2.8 GB
messages: 3278
compression: none [2814/2814 chunks]
types: sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
tf2_msgs/TFMessage [94810edda583a504dfda3829e70d7eec]
topics: /camera/depth_registered/image_raw 1454 msgs : sensor_msgs/Image
/camera/rgb/image_raw 1360 msgs : sensor_msgs/Image
/tf 460 msgs : tf2_msgs/TFMessage
/tf_static 4 msgs : tf2_msgs/TFMessage
bie@bie:~/ros_ws/Sem_SLAM/src/semantic_slam$ rosbag info tum1.bag
path: tum1.bag
version: 2.0
duration: 49.3s
start: May 10 2011 20:51:46.96 (1305031906.96)
end: May 10 2011 20:52:36.24 (1305031956.24)
size: 2.7 GB
messages: 41803
compression: none [2724/2724 chunks]
types: sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]
sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2]
tf/tfMessage [94810edda583a504dfda3829e70d7eec]
visualization_msgs/MarkerArray [f10fe193d6fac1bf68fad5d31da421a7]
topics: /camera/depth/camera_info 1361 msgs : sensor_msgs/CameraInfo
/camera/depth/image 1360 msgs : sensor_msgs/Image
/camera/rgb/camera_info 1362 msgs : sensor_msgs/CameraInfo
/camera/rgb/image_color 1362 msgs : sensor_msgs/Image
/cortex_marker_array 4914 msgs : visualization_msgs/MarkerArray
/imu 24569 msgs : sensor_msgs/Imu
/tf 6875 msgs : tf/tfMessage
It looks like some different between these two bag. So I changed semantic_cloud.yaml params
![e](https://user-images.githubusercontent.com/59161044/113230401-8312dd00-92cb-11eb-8232-70455103a82f.png)
![w](https://user-images.githubusercontent.com/59161044/113230416-8908be00-92cb-11eb-982f-2c77ec8385c0.png)
color_image_topic: "/camera/rgb/image_color"
depth_image_topic: "/camera/depth/image"
It didn't work. So I check the semantic_mapping.rviz and use
rosrun rqt_tf_tree rqt_tf_tree
.tf_tree are different too.
So I changed semantic_mapping.rviz params:
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: false
openni_depth_frame:
Value: false
openni_depth_optical_frame:
Value: false
openni_camera:
Value: false
openni_rgb_frame:
Value: false
openni_rgb_optical_frame:
Value: true
kinect:
Value: false
world:
Value: true
But it did'n work too. How can I get semantic octomap in RVIZ ?
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