嗨我对viso2包的立体测距法有一些问题，当我试图运行启动文件时，它给了我“视觉里程表迷路”。我目前正在使用2 Ueye UI-1226LE - USB 2.0相机立体声odometry.Below是它给我的错误。
SUMMARY
========
PARAMETERS
* /dynparam_ubuntu_14461_8489014763432242877/auto_exposure
* /dynparam_ubuntu_14461_8489014763432242877/frame_rate
* /dynparam_ubuntu_14461_8489014763432242877/l_pixel_clock
* /dynparam_ubuntu_14461_8489014763432242877/r_pixel_clock
* /dynparam_ubuntu_14461_8489014763432242877/zoom
* /kitty_stereo/stereo_image_proc/correlation_window_size
* /kitty_stereo/stereo_image_proc/disparity_range
* /kitty_stereo/stereo_image_proc/min_disparity
* /kitty_stereo/stereo_image_proc/prefilter_cap
* /kitty_stereo/stereo_image_proc/prefilter_size
* /kitty_stereo/stereo_image_proc/speckle_range
* /kitty_stereo/stereo_image_proc/speckle_size
* /kitty_stereo/stereo_image_proc/texture_threshold
* /kitty_stereo/stereo_image_proc/uniqueness_ratio
* /rosdistro
* /rosversion
* /use_sim_time
NODES
/kitty_stereo/
stereo_image_proc (stereo_image_proc/stereo_image_proc)
/
base_link_to_camera (tf/static_transform_publisher)
dynparam_ubuntu_14461_8489014763432242877 (dynamic_reconfigure/dynparam)
rosbag (rosbag/play)
stereo_odometer (viso2_ros/stereo_odometer)
ROS_MASTER_URI=http:// localhost:11311
core service [/rosout] found
process[base_link_to_camera-1]: started with pid [14521]
process[rosbag-2]: started with pid [14539]
process[kitty_stereo/stereo_image_proc-3]: started with pid [14556]
process[stereo_odometer-4]: started with pid [14577]
[ INFO] [1390285927.188771517]: Subscribing to:
* /kitty_stereo/left/image_rect
* /kitty_stereo/right/image_rect
* /kitty_stereo/left/camera_info
* /kitty_stereo/right/camera_info
process[dynparam_ubuntu_14461_8489014763432242877-5]: started with pid [14602]
[ INFO] [1390285927.228780458]: Basic Odometer Settings:
odom_frame_id = /odom
base_link_frame_id = /base_link
publish_tf = true
[ INFO] [1390285928.211526383, 1385798595.722205257]: Retrieving initial transform for /base_link to /camera.
[ INFO] [1390285928.211638745, 1385798595.722205257]: Initialized libviso2 stereo odometry with the following parameters:
Calibration parameters:
f = 1504.27
cu = 188.791
cv = 59.5449
Matcher parameters:
nms_n = 3
nms_tau = 50
match_binsize = 50
match_radius = 200
match_disp_tolerance = 2
outlier_disp_tolerance = 5
outlier_flow_tolerance = 5
multi_stage = 1
half_resolution = 1
refinement = 1
Bucketing parameters:
max_features = 2
bucket_width = 50
bucket_height = 50
Stereo odometry parameters:
base = 0.281359
ransac_iters = 200
inlier_threshold = 1.5
reweighting = 1
ref_frame_change_method = 0
ref_frame_motion_threshold = 5
ref_frame_inlier_threshold = 150
[ WARN] [1390285928.216198038, 1385798595.722205257]: Visual Odometer got lost!
[dynparam_ubuntu_14461_8489014763432242877-5] process has finished cleanly
log file: /home/acsc/.ros/log/a56e242a-8245-11e3-bf8d-48022a9ad0c5/dynparam_ubuntu_14461_8489014763432242877-5*.log
[ WARN] [1390285929.245663614, 1385798596.751227928]: Visual Odometer got lost!
[ WARN] [1390285930.250121013, 1385798597.777895990]: Visual Odometer got lost!
[ WARN] [1390285931.248951670, 1385798598.781152478]: Visual Odometer got lost!
[ WARN] [1390285932.318369814, 1385798599.847003310]: Visual Odometer got lost!
[ WARN] [1390285933.353832605, 1385798600.882260371]: Visual Odometer got lost!
[ WARN] [1390285934.417855748, 1385798601.942012156]: Visual Odometer got lost!
[ WARN] [1390285935.456077597, 1385798602.975817837]: Visual Odometer got lost!
[ WARN] [1390285936.456490832, 1385798603.986285772]: Visual Odometer got lost!
[ WARN] [1390285937.527047462, 1385798605.048900696]: Visual Odometer got lost!
[ WARN] [1390285938.559818811, 1385798606.088479625]: Visual Odometer got lost!
[ WARN] [1390285939.594780232, 1385798607.122738611]: Visual Odometer got lost!
这是我目前正在使用的启动文件
<launch>
<!-- Arguments -->
<arg name="kitty_01" default="/home/acsc/fuerte_workspace/sandbox/kitti_01.bag"/> <!-- Your bagfile here -->
<arg name="camera" default="/kitty_stereo" /> <!-- The namespace where images are published -->
<arg name="disparity_params" default="/home/acsc/fuerte_workspace/sandbox/disparity_params.yaml"/> <!-- Camera calibration parameters -->
<param name="/use_sim_time" value="true"/>
<node pkg="tf" type="static_transform_publisher" name="base_link_to_camera" args="0 0 0 0 0 0 /base_link /camera 100 " />
<!-- Run the rosbag -->
<node pkg="rosbag" type="play" name="rosbag" args="--clock $(arg kitty_01)"/>
<!-- Run the ROS package stereo_image_proc -->
<group ns="$(arg camera)" >
<node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
<rosparam file="$(arg disparity_params)"/>
</node>
</group>
<!-- Run the viso2_ros package -->
<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer" output="screen">
<remap from="stereo" to="$(arg camera)"/>
<remap from="image" to="image_rect"/>
</node>
<node name="$(anon dynparam)" pkg="dynamic_reconfigure" type="dynparam" args="set_from_parameters camera">
<param name="zoom" value="2"/>
<param name="l_pixel_clock" value="20"/>
<param name="r_pixel_clock" value="20"/>
<param name="auto_exposure" value="true"/>
<param name="frame_rate" value="30"/>
</node>
</launch>