jeffdelmerico / cyphy-elas-ros Goto Github PK

Hello, I try to use elas_ros to run the euroc dataset. Because the camera topic is missing in the euroc dataset, I use example / stereo / euroc.yaml in orb-slam2 adds camera parameters manually, and the final result shows that the running effect of elas_ros is not good. Why? But when I use Kitti dataset, the effect is very good.

[ WARN] [1677766653.028913292]: The input topic '/stereo/left/image_raw' is not yet advertised
[ WARN] [1677766653.029006441]: The input topic '/stereo/left/camera_info' is not yet advertised
[ WARN] [1677766653.031688736]: The input topic '/stereo/right/image_raw' is not yet advertised
WARN] [1677766653.031775355]: The input topic '/stereo/right/camera_info' is not yet advertised
[ WARN] [1677766697.509660525]: Shutdown request received.
[ WARN] [1677766697.509699954]: Reason given for shutdown: [[/stereo/left/left_rect] Reason: new node registered with same name]
[ WARN] [1677766697.510275191]: Shutdown request received.
[ WARN] [1677766697.510308319]: Reason given for shutdown: [[/stereo/right/right_rect] Reason: new node registered with same name]
[ WARN] [1677766697.510825652]: Shutdown request received.
[ WARN] [1677766697.510856380]: Reason given for shutdown: [[/elas] Reason: new node registered with same name]

Thank you for your reply. I firstly transformed the KITTI dataset into rosbag using kitti_to_rosbag. And then compiling the repo in a catkin workspace. After that I run the launch file using roslaunch elas_ros elas.launch and play bag usingrosbag play /home/gc2/Desktop/kittidata/2011_09_26/2011_09_26_drive_0005_sync/0005.bag cam00/camera_info:=/stereo/left/camera_info cam00/image_raw:=/stereo/left/image_raw cam01/camera_info:=/stereo/right/camera_info cam01/image_raw:=/stereo/right/image_raw . Howerer, I could only get 1 frame of depth image using rviz. The rate of the image topic is about 10Hz. I could only get 1 frame of depth image too if I play the bag using -r 0.1

Hello, I am a High Performance Computing Engineer and interested in code optimization and Edge Computing Integration. I want to help elas project to run disparity generation on GPU with opencl, how could I add this functionality , to create a new project or contribution on this projects?