[Jderobot] Componente rgbdviewer

[Laura Martín Ramírez]

Hola,

Acabo de ver en la lista que tuviste este problema con el componente rgbdViewer. Estoy teniendo exactamente el mismo problema, ¿cómo lo solucionaste?

Un saludo,
Laura M.

> Date: Mon, 16 Dec 2013 16:13:53 -0800
> From: jaimerodriguezgandia en gmail.com
> To: jde-developers en gsyc.es
> Subject: [Jderobot] Componente rgbdviewer
> 
> 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
> 
> 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!
> 
> 
> 
> --
> View this message in context: http://jderobot-developer-list.2315034.n4.nabble.com/Componente-rgbdviewer-tp4641966.html
> Sent from the Jderobot Developer List mailing list archive at Nabble.com.
> _______________________________________________
> Jde-developers mailing list
> Jde-developers en gsyc.es
> http://gsyc.escet.urjc.es/cgi-bin/mailman/listinfo/jde-developers
 		 	   		  
------------ próxima parte ------------
Se ha borrado un adjunto en formato HTML...
URL: http://gsyc.escet.urjc.es/pipermail/jde-developers/attachments/20140328/77391e89/attachment.htm