Cool, Thanks a lot!
P
Latest posts made by Prabhav Gupta
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RE: Install libopencv on Starling 2posted in VOXL 2
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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RE: Unable to build ROS python workspace on the RB5 droneposted in ROS
I had backed up my ROS workspace using
adb pullbefore flashing the drone and usedadb pushto reinstate my workspace on the drone. This unfortunately changed up the file permissions for the folders within the workspace.I was able to fix this by deleting (using
rm -rf) all folders within my ROS workspace except thesrc(which contains the packages I was working on) and building the packages again.I was then faced with the other CMake error visible above -
@Prabhav-Gupta said in Unable to build ROS python workspace on the RB5 drone:
CMake Error at /home/root/python_ws/src/vision_opencv/cv_bridge/CMakeLists.txt:16 (find_package):
Could not find a package configuration file provided by "OpenCV" (requested
version 3) with any of the following names:OpenCVConfig.cmake opencv-config.cmakeI fixed this by building opencv from source on the drone (following this - https://docs.opencv.org/4.x/d7/d9f/tutorial_linux_install.html)
After installing opencv, the
catrkin builddid not return any errors at the time. I do need to check whether my ROS Nodes are working as expected or not. Will update here once I do the same.Thank you for your time!
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Unable to build ROS python workspace on the RB5 droneposted in ROS
Hi,
I am working on a RB5 Drone. I had setup a Python ROS workspace (ROS Melodic) and it was working okay up until a few days ago.
I had to upgrade the SDK on the drone to the latest available. After that, I have been facing issues with building the workspace.
This is the error I am facing while running
catkin build:rb5:~/python_ws$ catkin build obj_det /bin/sh: /home/root/python_ws/install/env.sh: Permission denied WARNING: Sourced environment from `/home/root/python_ws/install/env.sh` has no environment variables. Something is wrong. ---------------------------------------------------------------------------------------------------------- Profile: default Extending: [env] /home/root/catkin_ws/devel:/opt/ros/melodic Workspace: /home/root/python_ws ---------------------------------------------------------------------------------------------------------- Build Space: [exists] /home/root/python_ws/build Devel Space: [exists] /home/root/python_ws/devel Install Space: [exists] /home/root/python_ws/install Log Space: [exists] /home/root/python_ws/logs Source Space: [exists] /home/root/python_ws/src DESTDIR: [unused] None ---------------------------------------------------------------------------------------------------------- Devel Space Layout: linked Install Space Layout: merged ---------------------------------------------------------------------------------------------------------- Additional CMake Args: -DPYTHON_EXECUTABLE=/usr/bin/python3 -DPYTHON_INCLUDE_DIR=/usr/include/python3.6m -DPYTHON_LIBRARY=/usr/lib/aarch64-linux-gnu/libpython3.6m.so Additional Make Args: None Additional catkin Make Args: None Internal Make Job Server: True Cache Job Environments: False ---------------------------------------------------------------------------------------------------------- Whitelisted Packages: None Blacklisted Packages: None ---------------------------------------------------------------------------------------------------------- Workspace configuration appears valid. ---------------------------------------------------------------------------------------------------------- [build] Found '5' packages in 0.0 seconds. Starting >>> cv_bridge /bin/sh: /home/root/python_ws/install/env.sh: Permission denied WARNING: Sourced environment from `/home/root/python_ws/install/env.sh` has no environment variables. Something is wrong. _________________________________________________________________________________________________________ Errors << cv_bridge:check /home/root/python_ws/logs/cv_bridge/build.check.019.log CMake Warning at /usr/share/cmake-3.10/Modules/FindBoost.cmake:1626 (message): No header defined for python3; skipping header check Call Stack (most recent call first): CMakeLists.txt:11 (find_package) CMake Error at /home/root/python_ws/src/vision_opencv/cv_bridge/CMakeLists.txt:16 (find_package): Could not find a package configuration file provided by "OpenCV" (requested version 3) with any of the following names: OpenCVConfig.cmake opencv-config.cmake Add the installation prefix of "OpenCV" to CMAKE_PREFIX_PATH or set "OpenCV_DIR" to a directory containing one of the above files. If "OpenCV" provides a separate development package or SDK, be sure it has been installed. make: *** [cmake_check_build_system] Error 1 cd /home/root/python_ws/build/cv_bridge; catkin build --get-env cv_bridge | catkin env -si /usr/bin/make cmake_check_build_system; cd - ......................................................................................................... Failed << cv_bridge:check [ Exited with code 2 ] Failed <<< cv_bridge [ 1.5 seconds ] Abandoned <<< obj_det [ Unrelated job failed ] [build] Summary: 0 of 2 packages succeeded. [build] Ignored: 3 packages were skipped or are blacklisted. [build] Warnings: None. [build] Abandoned: 1 packages were abandoned. [build] Failed: 1 packages failed. [build] Runtime: 1.6 seconds total.I set this workspace up by following this tutorial on the web: https://medium.com/@beta_b0t/how-to-setup-ros-with-python-3-44a69ca36674
Any suggestions on what is going wrong here?
Thanks a lot!
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unable to calibrate imu on RB5posted in Ask your questions right here!
Re: voxl-imu-server is Not Running
I am facing a similar issue as in the above topic. The IMU server on my RB5 is enabled, but not running.
I recently upgraded the sdk version on the drone, and hence need to calibrate the IMU again.
systemctl start voxl-imu-serverandsystemctl start voxl-px4-imu-serverboth do not work as expected.Any help would be appreciated. Thanks!
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RE: Install libopencv on Starling 2posted in VOXL 2
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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RE: Rename ROS Topics pulished by the RB5posted in ROS
@Moderator Thanks a lot, I will look into this!