[Jderobot] Componente rgbdviewer
jgandia
jaimerodriguezgandia en gmail.com
Mar Dic 17 01:13:53 CET 2013
Buenas, me gustar�a 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
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 documentaci�n de este componente?
Saludos!
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