[Jderobot] Componente rgbdviewer

Mar Dic 17 01:13:53 CET 2013

Buenas, me gustaría saber que me falta para poder jugar con este componente.
Actualmente ejecuto Gazebo con kinect.world  y conecto el rgbdviewer a las
camaras  DEPTH y  RGB.

en una terminal:
#> gazebo kinect.world

Gazebo multi-robot simulator, version 1.8.2
Copyright (C) 2013 Open Source Robotics Foundation.
Released under the Apache 2 License.
http://gazebosim.org

Msg Waiting for master.Warning [parser.cc:361] Converting a deprecated SDF
source[/home/jaime/trunk/src/stable/components/gazeboserver/plugins/kinect/kinect.world].
Warning [Converter.cc:58]   Version[1.0] to Version[1.4]
  Please use the gzsdf tool to update your SDF files.
    $ gzsdf convert [sdf_file]
Warning [parser.cc:361] Converting a deprecated SDF
source[/home/jaime/.gazebo/models/sun/model.sdf].
Warning [Converter.cc:58]   Version[1.2] to Version[1.4]
  Please use the gzsdf tool to update your SDF files.
    $ gzsdf convert [sdf_file]
Msg Waiting for master
Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.1.11

Msg Connected to gazebo master @ http://127.0.0.1:11345
Msg Publicized address: 192.168.1.11
Kinect Endpoints > default -h localhost -p 9998
Constructor CameraI
safeThread
Constructor CameraDepth
safeThread
        adapter->add(object, ic->stringToIdentity(Kinect)); 

en otra terminal
#>rgbdviewer --Ice.Config=rgbdviewer.cfg

el fichero rgbdviewer.cfg contiene lo siguiente:

#rgbdViewer.CameraRGB.Proxy=cameraA:tcp -h 193.147.14.20 -p 9998
rgbdViewer.CameraRGB.Fps=10
rgbdViewer.CameraRGB.Proxy=cameraA:tcp -h localhost -p 9999
rgbdViewer.CameraDEPTHActive=1
rgbdViewer.CameraDEPTH.Fps=10
#rgbdViewer.CameraDEPTH.Proxy=cameraA:tcp -h 193.147.14.20 -p 9998
rgbdViewer.CameraDEPTH.Proxy=cameraA:tcp -h localhost -p 9999
#rgbdViewer.pointCloudActive=1
#rgbdViewer.pointCloud.Proxy=pointcloud1:tcp -h 193.147.14.20 -p 9998
#rgbdViewer.pointCloud.Fps=10
#rgbdViewer.pointCloud.Proxy=pointcloud1:tcp -h localhost -p 9999
#rgbdViewer.Pose3DMotorsActive=0
#rgbdViewer.Pose3DMotors.Proxy=Pose3DMotors1:tcp -h 193.147.14.20 -p 9999
rgbdViewer.KinectLedsActive=0
rgbdViewer.KinectLeds.Proxy=kinectleds1:tcp -h 193.147.14.20 -p 9999
rgbdViewer.WorldFile=./config/fempsa/fempsa.cfg
#rgbdViewer.camRGB=./config/joseMaria/CameraAEsquina.xml
#rgbdViewer.camIR=./config/joseMaria/CameraAEsquina.xml
rgbdViewer.Width=320
rgbdViewer.Height=240
rgbdViewer.Fps=15
rgbdViewer.Debug=0

esta es la salida:

Loading glade
Creating Progeos Virtual Cameras

----------------------- PROGEO C++ ---------------------
Camera 

     Position: (X,Y,Z,H)=(0,0,0,0,0,0,1,0)
     Focus of Attention: (x,y,z,h)=(0,0,1,0,0,0,1,0)

     Focus DistanceX(vertical): 511,0 mm
     Focus DistanceY(horizontal): 511,0 mm
     Skew: 0,00000 
     Optical Center: (x,y)=(160,0,120,0)

K Matrix: 
511   0 160
  0 511 120
  0   0   1
 R&T Matrix:
0 0 1 0
1 0 0 0
0 1 0 0
0 0 0 1
------------------------------------------------------

----------------------- PROGEO C++ ---------------------
Camera 

     Position: (X,Y,Z,H)=(0,0,0,0,0,0,1,0)
     Focus of Attention: (x,y,z,h)=(0,0,1,0,0,0,1,0)

     Focus DistanceX(vertical): 511,0 mm
     Focus DistanceY(horizontal): 511,0 mm
     Skew: 0,00000 
     Optical Center: (x,y)=(160,0,120,0)

K Matrix: 
511   0 160
  0 511 120
  0   0   1
 R&T Matrix:
0 0 1 0
1 0 0 0
0 1 0 0
0 0 0 1
------------------------------------------------------
rgbdViewer: cannot find world file
1

Tengo la ventana  del controller con los botones de camera RGB,camera
DEPTH,view world, show room on rgb, show room on depth, clear projection
lines, reconstruct y cameraposition.

He estado jugando con el componente y a mi parecer le falta algo,por que no
muestra nada, pero tambien es verdad que el mundo en gazebo esta vacio solo
hay un model de  kinect, ¿existe alguna documentación de este componente?
Saludos!

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