How to get pose data from ZR300 ?

[品吳]

Hi all ,

I am doing a project about robot localization. I am a newbie and unfamiliar with Intel Realsense SDK or Library.

Now , I have tried to program like following code:

rs::context ctx;rs::device &camera = *ctx.get_device(0);video_module_interface::supported_module_config supported_slam_config;rs::slam::PoseMatrix4f pose_matrix;camera.set_option(rs::option::fisheye_strobe,1);camera.set_option(rs::option::fisheye_external_trigger,1);auto &fisheye_stream_config = supported_slam_config[stream_type::fisheye];camera.enable_stream(rs::stream::fisheye, fisheye_stream_config.size.width, fisheye_stream_config.size.height, rs::format::raw8, fisheye_stream_config.frame_rate);auto &depth_stream_config = supported_slam_config[stream_type::depth];camera.enable_stream(rs::stream::depth, depth_stream_config.size.width, depth_stream_config.size.height, rs::format::z16, depth_stream_config.frame_rate);

What is the next step?

Can someone give me some hint or code snippet related to get_camera_pose ?

Thanks in advance.

OS: Ubuntu 16.04

Build Tools :Cmake Qt

Device : ZR300

[idata]

Hello EdXian,

Thanks for contacting Intel customer support. In the following link you will find the Developer's guide for the ZR300 module. Please check under the section for "Initial motion and Tracking accuracy". In this section you will find information on how the camera achieves the initial position and accuracy. https://software.intel.com/sites/products/realsense/slam/developer_guide.htmlHope you find this information clarifying for your problem. Best Regards, Juan N.

[品吳]

Hi Juan N.

Thank you for your advice!

I have installed these following Libraries:

sudo apt install -y librealsense-object-recognition-dev librealsense-persontracking-dev librealsense-slam-dev

I know that there is an exist ros package called "realsense sample ros" but I still want to do a package due to research purpose.

I set my CmakeLists as follwing but finally got build error :

https://github.com/EdXian/ROS-R200/blob/master/slam_tutorial/CMakeLists.txt ROS-R200/CMakeLists.txt at master · EdXian/ROS-R200 · GitHub

/usr/lib/gcc/x86_64-linux-gnu/5/../../../../lib/libSP_Core.so: undefined reference to `gzgets'

/usr/lib/gcc/x86_64-linux-gnu/5/../../../../lib/libSP_Core.so: undefined reference to `gzopen'

/usr/lib/gcc/x86_64-linux-gnu/5/../../../../lib/libSP_Core.so: undefined reference to `gzclose'

/usr/lib/gcc/x86_64-linux-gnu/5/../../../../lib/libSP_Core.so: undefined reference to `gzputs'

/usr/lib/gcc/x86_64-linux-gnu/5/../../../../lib/libSP_Core.so: undefined reference to `gzrewind'

/usr/lib/gcc/x86_64-linux-gnu/5/../../../../lib/libSP_Core.so: undefined reference to `gzeof'

collect2: error: ld returned 1 exit status

ROS-R200/slam_tutorial/CMakeFiles/pose.dir/build.make:316: recipe for target '/home/edxian/catkin_ws/devel/lib/slam_tutorial/pose' failed

make[2]: *** [/home/edxian/catkin_ws/devel/lib/slam_tutorial/pose] Error 1

CMakeFiles/Makefile2:6603: recipe for target 'ROS-R200/slam_tutorial/CMakeFiles/pose.dir/all' failed

make[1]: *** [ROS-R200/slam_tutorial/CMakeFiles/pose.dir/all] Error 2

make[1]: *** Waiting for unfinished jobs....

failed (HTTP Error 403: Forbidden)!

[ 6%] Built target recognition.bag

failed (HTTP Error 403: Forbidden)!

failed (HTTP Error 403: Forbidden)!

[ 6%] Built target person_detection.bag

[ 6%] Built target wave_detection.bag

Makefile:138: recipe for target 'all' failed

make: *** [all] Error 2

Invoking "make -j4 -l4" failed

How do I include these libraries into my ROS Project by cmake correctly?

Thanks.

[idata]

Hello EdXian,

The best advice we can offer is to use as closely as possible the existing CMake files provided by the ROS samples. This is an advanced topic and we are very limited in how much we can help with customization.Thanks for your understanding.Best Regards, Juan N.