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visp_auto_tracker: How do I connect with realsense? #141

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adamheo-inha opened this issue Aug 13, 2024 · 1 comment
Open

visp_auto_tracker: How do I connect with realsense? #141

adamheo-inha opened this issue Aug 13, 2024 · 1 comment

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@adamheo-inha
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Hello.

I want to try visp_auto_tracker with realsense product (D455 or D435).
I use 22.04 & humble.
I put vision_visp and realsense in the same src and build it.
I tried launch visp while receiving topic from realsense, but it failed.

$ ros2 launch realsense2_camera rs_launch.py

$ ros2 launch visp_auto_tracker tracklive_usb.xml 
[INFO] [launch]: All log files can be found below /home/adamheo/.ros/log/2024-08-13-16-39-15-737063-u22-69591
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [visp_auto_tracker_main-1]: process started with pid [69592]
[INFO] [usb_cam_node_exe-2]: process started with pid [69594]
[usb_cam_node_exe-2] [INFO] [1723534755.847504597] [usb_cam]: camera_name value: /camera/image_raw
[usb_cam_node_exe-2] [WARN] [1723534755.847560865] [usb_cam]: framerate: 30.000000
[usb_cam_node_exe-2] [INFO] [1723534755.848445402] [usb_cam]: camera calibration URL: package://visp_auto_tracker/models/calibration.ini
[usb_cam_node_exe-2] [INFO] [1723534755.848932148] [usb_cam]: Starting '/camera/image_raw' (/dev/video0) at 640x480 via mmap (yuyv) at 30 FPS
[usb_cam_node_exe-2] This device supports the following formats:
[usb_cam_node_exe-2] 	16-bit Depth 256 x 144 (90 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 424 x 240 (90 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 424 x 240 (60 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 424 x 240 (30 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 424 x 240 (15 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 424 x 240 (5 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 480 x 270 (90 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 480 x 270 (60 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 480 x 270 (30 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 480 x 270 (15 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 480 x 270 (5 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 640 x 360 (90 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 640 x 360 (60 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 640 x 360 (30 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 640 x 360 (15 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 640 x 360 (5 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 640 x 480 (90 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 640 x 480 (60 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 640 x 480 (30 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 640 x 480 (15 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 640 x 480 (5 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 848 x 100 (100 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 848 x 480 (90 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 848 x 480 (60 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 848 x 480 (30 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 848 x 480 (15 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 848 x 480 (5 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 1280 x 720 (30 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 1280 x 720 (15 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 1280 x 720 (5 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 256 x 144 (90 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 424 x 240 (90 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 424 x 240 (60 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 424 x 240 (30 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 424 x 240 (15 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 424 x 240 (5 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 480 x 270 (90 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 480 x 270 (60 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 480 x 270 (30 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 480 x 270 (15 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 480 x 270 (5 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 640 x 360 (90 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 640 x 360 (60 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 640 x 360 (30 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 640 x 360 (15 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 640 x 360 (5 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 640 x 480 (90 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 640 x 480 (60 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 640 x 480 (30 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 640 x 480 (15 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 640 x 480 (5 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 848 x 100 (100 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 848 x 480 (90 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 848 x 480 (60 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 848 x 480 (30 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 848 x 480 (15 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 848 x 480 (5 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 1280 x 720 (30 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 1280 x 720 (15 Hz)
[usb_cam_node_exe-2] 	16-bit Depth 1280 x 720 (5 Hz)
[usb_cam_node_exe-2] terminate called after throwing an instance of 'std::invalid_argument'
[usb_cam_node_exe-2]   what():  Specified format `yuyv` is unsupported by the selected device `/dev/video0`
[visp_auto_tracker_main-1] [WARN] [1723534755.882686187] [rclcpp]: li: verbose= 1
[visp_auto_tracker_main-1] [WARN] [1723534755.882722334] [rclcpp]: li: data-directory= /home/dt/data/
[visp_auto_tracker_main-1] [WARN] [1723534755.882727719] [rclcpp]: li: #single-image= QRPattern.png
[visp_auto_tracker_main-1] [WARN] [1723534755.882730791] [rclcpp]: li: video-input-path=images/%010d.ppm
[visp_auto_tracker_main-1] [WARN] [1723534755.882733544] [rclcpp]: li: detector-type= zbar 
[visp_auto_tracker_main-1] [WARN] [1723534755.882736096] [rclcpp]: li: ad-hoc-recovery= 1
[visp_auto_tracker_main-1] [WARN] [1723534755.882738428] [rclcpp]: li: mbt-convergence-steps= 1
[visp_auto_tracker_main-1] [WARN] [1723534755.882741534] [rclcpp]: li: log-pose= 1
[visp_auto_tracker_main-1] [WARN] [1723534755.882746655] [rclcpp]: li: 
[visp_auto_tracker_main-1] [WARN] [1723534755.882748940] [rclcpp]: li: #point 1
[visp_auto_tracker_main-1] [WARN] [1723534755.882751232] [rclcpp]: li: flashcode-coordinates= -0.0255
[visp_auto_tracker_main-1] [WARN] [1723534755.882772511] [rclcpp]: li: flashcode-coordinates= -0.0255
[visp_auto_tracker_main-1] [WARN] [1723534755.882775782] [rclcpp]: li: flashcode-coordinates= 0.000
[visp_auto_tracker_main-1] [WARN] [1723534755.882778641] [rclcpp]: li: #point 2
[visp_auto_tracker_main-1] [WARN] [1723534755.882781099] [rclcpp]: li: flashcode-coordinates= 0.0255
[visp_auto_tracker_main-1] [WARN] [1723534755.882783760] [rclcpp]: li: flashcode-coordinates= -0.0255
[visp_auto_tracker_main-1] [WARN] [1723534755.882786376] [rclcpp]: li: flashcode-coordinates= 0.000
[visp_auto_tracker_main-1] [WARN] [1723534755.882788769] [rclcpp]: li: #point 3
[visp_auto_tracker_main-1] [WARN] [1723534755.882790829] [rclcpp]: li: flashcode-coordinates= 0.0255
[visp_auto_tracker_main-1] [WARN] [1723534755.882793247] [rclcpp]: li: flashcode-coordinates= 0.0255
[visp_auto_tracker_main-1] [WARN] [1723534755.882795573] [rclcpp]: li: flashcode-coordinates= 0.000
[visp_auto_tracker_main-1] [WARN] [1723534755.882798230] [rclcpp]: li: #point 4
[visp_auto_tracker_main-1] [WARN] [1723534755.882800298] [rclcpp]: li: flashcode-coordinates= -0.0255
[visp_auto_tracker_main-1] [WARN] [1723534755.882802971] [rclcpp]: li: flashcode-coordinates= 0.0255
[visp_auto_tracker_main-1] [WARN] [1723534755.882805389] [rclcpp]: li: flashcode-coordinates= 0.000
[visp_auto_tracker_main-1] [WARN] [1723534755.882807705] [rclcpp]: li: 
[visp_auto_tracker_main-1] [WARN] [1723534755.882809828] [rclcpp]: li: #point 1
[visp_auto_tracker_main-1] [WARN] [1723534755.882811984] [rclcpp]: li: inner-coordinates= -0.03825
[visp_auto_tracker_main-1] [WARN] [1723534755.882815232] [rclcpp]: li: inner-coordinates= -0.03825
[visp_auto_tracker_main-1] [WARN] [1723534755.882817768] [rclcpp]: li: inner-coordinates= 0.000
[visp_auto_tracker_main-1] [WARN] [1723534755.882820298] [rclcpp]: li: #point 2
[visp_auto_tracker_main-1] [WARN] [1723534755.882822347] [rclcpp]: li: inner-coordinates= 0.03825
[visp_auto_tracker_main-1] [WARN] [1723534755.882824816] [rclcpp]: li: inner-coordinates= -0.03825
[visp_auto_tracker_main-1] [WARN] [1723534755.882827360] [rclcpp]: li: inner-coordinates= 0.000
[visp_auto_tracker_main-1] [WARN] [1723534755.882829587] [rclcpp]: li: #point 3
[visp_auto_tracker_main-1] [WARN] [1723534755.882831610] [rclcpp]: li: inner-coordinates= 0.03825
[visp_auto_tracker_main-1] [WARN] [1723534755.882833888] [rclcpp]: li: inner-coordinates= 0.03825
[visp_auto_tracker_main-1] [WARN] [1723534755.882836159] [rclcpp]: li: inner-coordinates= 0.000
[visp_auto_tracker_main-1] [WARN] [1723534755.882838612] [rclcpp]: li: #point 4
[visp_auto_tracker_main-1] [WARN] [1723534755.882840648] [rclcpp]: li: inner-coordinates= -0.03825
[visp_auto_tracker_main-1] [WARN] [1723534755.882842909] [rclcpp]: li: inner-coordinates= 0.03825
[visp_auto_tracker_main-1] [WARN] [1723534755.882845186] [rclcpp]: li: inner-coordinates= 0.000
[visp_auto_tracker_main-1] [WARN] [1723534755.882847384] [rclcpp]: li: 
[visp_auto_tracker_main-1] [WARN] [1723534755.882849515] [rclcpp]: li: #point 1
[visp_auto_tracker_main-1] [WARN] [1723534755.882851601] [rclcpp]: li: outer-coordinates= -0.0765
[visp_auto_tracker_main-1] [WARN] [1723534755.882854178] [rclcpp]: li: outer-coordinates= -0.0765
[visp_auto_tracker_main-1] [WARN] [1723534755.882856616] [rclcpp]: li: outer-coordinates= 0.000
[visp_auto_tracker_main-1] [WARN] [1723534755.882859044] [rclcpp]: li: #point 2
[visp_auto_tracker_main-1] [WARN] [1723534755.882861081] [rclcpp]: li: outer-coordinates= 0.0765
[visp_auto_tracker_main-1] [WARN] [1723534755.882863426] [rclcpp]: li: outer-coordinates= -0.0765
[visp_auto_tracker_main-1] [WARN] [1723534755.882865899] [rclcpp]: li: outer-coordinates= 0.000
[visp_auto_tracker_main-1] [WARN] [1723534755.882868128] [rclcpp]: li: #point 3
[visp_auto_tracker_main-1] [WARN] [1723534755.882870206] [rclcpp]: li: outer-coordinates= 0.0765
[visp_auto_tracker_main-1] [WARN] [1723534755.882872487] [rclcpp]: li: outer-coordinates= 0.0765
[visp_auto_tracker_main-1] [WARN] [1723534755.882874700] [rclcpp]: li: outer-coordinates= 0.000
[visp_auto_tracker_main-1] [WARN] [1723534755.882877100] [rclcpp]: li: #point 4
[visp_auto_tracker_main-1] [WARN] [1723534755.882879140] [rclcpp]: li: outer-coordinates= -0.0765
[visp_auto_tracker_main-1] [WARN] [1723534755.882881401] [rclcpp]: li: outer-coordinates= 0.0765
[visp_auto_tracker_main-1] [WARN] [1723534755.882883606] [rclcpp]: li: outer-coordinates= 0.000
[visp_auto_tracker_main-1] [WARN] [1723534755.882885811] [rclcpp]: li: 
[visp_auto_tracker_main-1] [WARN] [1723534755.882888012] [rclcpp]: li: #variance-file=var.txt
[visp_auto_tracker_main-1] [WARN] [1723534755.882890506] [rclcpp]: li: #variance-limit=0.03
[visp_auto_tracker_main-1] [INFO] [1723534755.882946573] [rclcpp]: Loaded 4 flashcode extremity points, 4 inner contour points and 4 outer contour points.
[visp_auto_tracker_main-1] [INFO] [1723534755.882964401] [rclcpp]: Tracker set to:hybrid (mbt+klt)
[visp_auto_tracker_main-1] [INFO] [1723534755.882967555] [rclcpp]: Detector set to:QR code
[visp_auto_tracker_main-1] [INFO] [1723534755.883143826] [rclcpp]: Model content=V1
[visp_auto_tracker_main-1] # 3D Points
[visp_auto_tracker_main-1] 8                  # Number of points
[visp_auto_tracker_main-1] -0.0765  -0.0765	0.000  # Point 0: X Y Z
[visp_auto_tracker_main-1]  0.0765  -0.0765	0.000
[visp_auto_tracker_main-1]  0.0765   0.0765	0.000
[visp_auto_tracker_main-1] -0.0765   0.0765	0.000
[visp_auto_tracker_main-1] -0.03825 -0.03825	0.000	
[visp_auto_tracker_main-1]  0.03825 -0.03825	0.000
[visp_auto_tracker_main-1]  0.03825  0.03825	0.000
[visp_auto_tracker_main-1] -0.03825  0.03825 0.000  # Point 7
[visp_auto_tracker_main-1] # 3D Lines
[visp_auto_tracker_main-1] 0                  # Number of lines
[visp_auto_tracker_main-1] # Faces from 3D lines
[visp_auto_tracker_main-1] 0                  # Number of faces
[visp_auto_tracker_main-1] # Faces from 3D points
[visp_auto_tracker_main-1] 2                  # Number of faces
[visp_auto_tracker_main-1] 4 0 1 2 3          # Face 0: [number of points] [index of the 3D points]...
[visp_auto_tracker_main-1] 4 4 5 6 7
[visp_auto_tracker_main-1] # 3D cylinders
[visp_auto_tracker_main-1] 0                  # Number of cylinders
[visp_auto_tracker_main-1] # 3D circles
[visp_auto_tracker_main-1] 0                  # Number of circles
[visp_auto_tracker_main-1] 
[visp_auto_tracker_main-1] terminate called after throwing an instance of 'vpException'
[visp_auto_tracker_main-1]   what():  QRCode detector not available. libzbar support is missing
[ERROR] [usb_cam_node_exe-2]: process has died [pid 69594, exit code -6, cmd '/opt/ros/humble/lib/usb_cam/usb_cam_node_exe --ros-args -r __node:=usb_cam --params-file /tmp/launch_params_clwyuvy7 --params-file /tmp/launch_params_m8po4_14 --params-file /tmp/launch_params_z_0ppmob --params-file /tmp/launch_params_pf_c5sg_ --params-file /tmp/launch_params_w6k2fhi0 --params-file /tmp/launch_params_bomkvn3t'].
[ERROR] [visp_auto_tracker_main-1]: process has died [pid 69592, exit code -6, cmd '/home/adamheo/pitin_ws/install/visp_auto_tracker/lib/visp_auto_tracker/visp_auto_tracker_main --ros-args -r __node:=visp_auto_tracker --params-file /tmp/launch_params_wvf2tkgt --params-file /tmp/launch_params_kmyq7dtf --params-file /tmp/launch_params_g9bdyn79 --params-file /tmp/launch_params_vucw2vk8 -r /camera/camera_info:=/camera_info -r /camera/image_raw:=/image_raw'].

Please let me know which part I need to modify to solve this issue.
@fspindle
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You should install libzbar-dev ubuntu package, and rebuild ViSP ensuring the in visp-build/ViSP-third-party.txt file you see something similar to:

  Detection:
    Use zbar:                    yes (ver 0.2x.yy)

Then, you need also to rebuild visp_auto_tracker ros package.

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@fspindle @adamheo-inha