ros vio2 + ps4 eye

2024年2月9日 153次阅读

程序卡頓，沒辦法正常工作，經常出現下面的問題

[stereo_odometer-8] process has died [pid 24456, exit code -11, cmd /home/i-rc/catkin_ws/devel/lib/viso2_ros/stereo_odom
eter stereo:=stereo image:=image_rect __name:=stereo_odometer __log:=/home/i-rc/.ros/log/46721cfc-7d09-11e7-bc70-f48e38a
22f47/stereo_odometer-8.log].
log file: /home/i-rc/.ros/log/46721cfc-7d09-11e7-bc70-f48e38a22f47/stereo_odometer-8*.log

解決：tf 座標配置有問題，增加base_link 和 ps4_camera 的靜態變換後效果有所改善，不再經常崩潰
關於攝像頭在ROS下面的座標：

參考:

  1. http://wiki.ros.org/viso2_ros?distro=groovy
  2. https://answers.ros.org/question/63071/viso2-camera-configuration/
  3. http://www.cvlibs.net/datasets/kitti/setup.php
  4. https://answers.ros.org/question/44232/stereo-libviso2-doesnt-seem-compute-an-accuracy-odometry/
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