Install libopencv on Starling 2
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I do not have an suggestions for implementing this directly on voxl2. as mentioned the voxl-opencv might conflict with standard opencv. I have also seen other packages conflict and python versions conflict depending on the ROS version you are using.
Far easier and cleaner to use a docker image, and creates less headache in the long run.when you say data for cameras, what do you mean? I do not believe Modal has a DIRECT model of the drone in RViz or Gazebo. But you can follow this guide to get HITL working in Gazebo with the voxl2 hardware: https://docs.modalai.com/voxl2-PX4-hitl/
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and video: https://www.youtube.com/watch?v=ysvpJdXFWaM
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@wilkinsaf Okay, thanks for your reply. Sorry, that was not clear. What I mean by data for cameras is data that I can send to RTAB-Map as a sensor_msgs/CameraInfo message. There is some data in the extrinsics files for tracking, but not for other sensors.
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@Judoor-0 Gotcha. Let me know if this doesnt answer your question.
you can use voxl mpa to ros2: https://gitlab.com/voxl-public/voxl-sdk/utilities/voxl-mpa-to-ros2
and this will allow you to access camera frame information -
@wilkinsaf Does mpa to ros do the same thing? Because I currently use ROS1. And for ROS1, mpa to ros only sends camera images or point cloud, not camera_infos.
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I am working on something very similar as well and am facing the same issue.
I need to run RTAB-MAP for SLAM using the drone's sensors (Video and IMU). But RTAB-MAP expects camera_info (the camera matrix and other variables, as explained by @Judoor-0 above) along with video data.
One way to provide this information to RTAB-MAP is by creating a seperate publisher and publish this data over a ROS topic as done in one of the posts above. But I suspect it would be better if the voxl-mpa-to-ros package could provide the exact camera matrix and other variables (as specified here - https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/CameraInfo.html) as a ROS topic directly.
Kindly let us know if there is any way to implement this.
@Judoor-0, were you able to run SLAM using the stereo data from the drone? Or did you use depth data from a depth camera? The RB5 flight drone that I am using does not provide depth data directly, and hence I was thinking of using the Stereo data package within RTAB-MAP.
Thanks!
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The easiest way to do this, perhaps, is to create a python script that reads the camera calibration json and publishes a latched message via rospy. Similarly it could be done in C++ with a little more effort.. I don't think this currently exists.
Alex
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@Prabhav-Gupta I didn't use the stereo data because I don't have one on my drone. I used the point cloud returned by the TOF. But I know that with RTAB-Map you can easily use stereo without depth. There are some examples that may help you in the rtabmap_ros website.
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@Judoor-0 Thanks a lot, I will look into it.
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I was trying to create this script -
@Alex-Kushleyev said in Install libopencv on Starling 2:
The easiest way to do this, perhaps, is to create a python script that reads the camera calibration json and publishes a latched message via rospy. Similarly it could be done in C++ with a little more effort.. I don't think this currently exists.
and need some help.
I am working with the RB5 drone and found this in the
/data/modalai/folder in the drone:In
opencv_stereo_front_extrinsics.yml:rb5:/data/modalai$ cat opencv_stereo_front_extrinsics.yml %YAML:1.0 --- R: !!opencv-matrix rows: 3 cols: 3 dt: d data: [ 9.9995382093423246e-01, -9.1903872613942166e-03, -2.8094093711296423e-03, 9.2509466314868449e-03, 9.9970714036476482e-01, 2.2361875818584419e-02, 2.6030723098620125e-03, -2.2386832864208624e-02, 9.9974599460505953e-01 ] T: !!opencv-matrix rows: 3 cols: 1 dt: d data: [ -7.9639069991921108e-02, -9.0666624431155548e-05, -1.0799460870486485e-03 ] reprojection_error: 2.7322523335815047e-01 calibration_time: "2022-04-08 23:15:23"and in
opencv_stereo_front_intrinsics.yml:rb5:/data/modalai$ cat opencv_stereo_front_intrinsics.yml %YAML:1.0 --- M1: !!opencv-matrix rows: 3 cols: 3 dt: d data: [ 5.0159907997903338e+02, 0., 2.9377341710319376e+02, 0., 5.0083699409439379e+02, 2.3544444409742863e+02, 0., 0., 1. ] D1: !!opencv-matrix rows: 5 cols: 1 dt: d data: [ -1.6571748643440132e-01, 6.3134583515870882e-02, 2.4908601395800438e-03, 6.9258577723375913e-04, 0. ] reprojection_error1: 1.8877343672847582e-01 M2: !!opencv-matrix rows: 3 cols: 3 dt: d data: [ 5.0289492433892644e+02, 0., 3.1156572782508289e+02, 0., 5.0234014337071841e+02, 2.4962793784523797e+02, 0., 0., 1. ] D2: !!opencv-matrix rows: 5 cols: 1 dt: d data: [ -1.6640627389329365e-01, 6.4800083011513396e-02, 1.1988146735987267e-04, -6.3680006718804514e-04, 0. ] reprojection_error2: 1.8906708149286014e-01 width: 640 height: 480 distortion_model: plumb_bob calibration_time: "2022-04-08 23:15:23"To create the script that publishes CameraInfo, I need to figure out the information within these two files that correspond to the variables within the CameraInfo class as given here: https://docs.ros.org/en/noetic/api/sensor_msgs/html/msg/CameraInfo.html
sensor_msgs/CameraInfo:
std_msgs/Header header uint32 height uint32 width string distortion_model float64[] D float64[9] K float64[9] R float64[12] P uint32 binning_x uint32 binning_y sensor_msgs/RegionOfInterest roiSome of the variable mappings are clear, such as height, width, distortion model, R and D.
How do I map K and P required by CameraInfo from the Calibration files? And anything else that I should potentially look out for while doing this mapping?
Thanks!
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K is your M1 and M2 matrices for both cameras (3x3 Intrinsic camera matrix)
The link you shared has information how to compute the P matrix. I am not sure if it would be used by your application though.
Alex
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Cool, Thanks a lot!
