how to apply on carla-ros-bridge

[slinshady89]

Hello I'm struggling to use libviso with my available topics. I want to use stereo_odometry on the right and left camera which coordinate systems are already parallel and only a translation in y in vehicle coordinates is applied. However after 'catkin_make' I neither find rosun stereo_odometer nor any of the other proposed packages. However, when I do 'catkin_make' they seem to be build.

[ysong-aceinna]

Hi, here is a demo.launch of how to use stereo_odometer, hope it is useful.
(https://github.com/srv/viso2/blob/25db160641faa5a1cb09147716d15dbba86c6bd5/viso2_ros/launch/demo.launch)

[slinshady89]

I was able to use it and it starts now but I have an instant segmentation fault

[ysong-aceinna]

I used a bag file which was downloaded from here, and didn't encounter segmentation fault, maybe you can have a try.

[slinshady89]

I found out that if I add some roll to one of the cameras it's not compensated in image_rect by stereo_image_proc. Probably the base_link isn't established correctly.

that's the transformation done by rosrun tf tf_echo ego_vehicle ego_vehicle/camera/rgb/left

But I think I get my segmentation fault because the tf couldn't be done and is to contrary to the identity matrix. left or right frame is no difference

[klintan]

Pretty sure it is the same issue as this one #63 (comment)

as @ysong-aceinna mentions, using the height and width of the bag-files images will most likely fix the issue.