Re: [Playerstage-users] Example MRICP simulation Please?

[Ather S. S. (Shiraz) <ath...@gm...>]

I have gone through the forums by the author of mricp but have not
found a WORKING example yet.

I understand ICP (have read publications and books) and I would like
to avoid having to "tweak" these myriads of parameters just to see a
first working example (and proceed from there).

Nonetheless I will try but if anyone has such an example I would
appreciate it (I thought the example you gave me would give a working
map).

Thank you for recommending the book from the Israeli prof. it had a 2
page description of ICP though. I recall now that I covered svd based
optical flow techniques in Computer vision already and this is very
similar but anyone who didnt know ICP would have a difficult time
understanding it due to the seeming lack of proper textbooks. Amazing
thing is there are a million Comp. Vision textbooks and none of them
are combine both "good pedagogy" and "depth" and breadth.

S

On Thu, Dec 1, 2011 at 3:32 PM, George C <geo...@gm...> wrote:
> you have to tweak the parameters... go to the author's / contributor's
> website for details
>
> http://www.tarektaha.com/research/plugins/forum/forum_viewforum.php?2
>
> http://www.tarektaha.com/research/plugins/forum/forum_viewtopic.php?3
>
> On 1 December 2011 19:57, Ather Shiraz Sidiki (Shiraz)
> <ath...@gm...> wrote:
>> Ok I got mricp to work (sort of) by removing 3.0.2 (uninstalling it)
>> and then re-installing 3.0 instead (the older version that I had
>> earlier). Now the mricp example "works" as in that the driver is
>> listed in the list of available drivers when I type player. Still no
>> working example.
>>
>> When I try to run Chliveros' example I get an inaccurate map (to say the least).
>>
>> This is the map it produced :
>> https://docs.google.com/open?id=0BwG45lg3wcwnMTEyYWY4NGMtZjIwMi00M2Y2LTljMzktMzc3MDI1ZTRiNjMw
>>
>> I had the bot run (on high speed) all over the map so there was no
>> chance of it missing a corner .
>>
>> I guess I am looking for bare minimum example (no frills : just the
>> basics). Sebastian's example here
>> http://old.nabble.com/Help-with-SLAM-td28813883i20.html - if you
>> scroll down ;  the example has just one file I believe besides
>> cave.png - bare minimum dependencies please (so we can build on it and
>> have fewer irrelevant aspects to tweak) we want the bare minimum
>> initially to work with and we don't want to be distracted by
>> modularization / OO  or .inc modules to trace please though I am very
>> grateful for whatever examples I have managed to get. Once we have a
>> simple version (working robustly) then we can move to add aspects to
>> demo the other features, perhaps. For instance George was nice enough
>> to comment out some of the extraneous variables in Sebastian's example
>> which is great.
>>
>> I tried running George Chliveros' example with some variant features
>> and parameters and got either an error or the same incomplete map.
>>
>> When I try run the older version of stage_test (it ofcourse gives all
>> those errors with being an older version and all) I get the following
>> error :
>>
>>  Stage plugin:  6665.simulation.0 is a Stage world
>>  [Loading ./rescue.world][Include homer.inc][Include map.inc]
>> warn: worldfile ./rescue.world:3 : property [interval_real] is defined
>> but not used (/home/s/Stage-3.2.1-Source/libstage/worldfile.cc
>> WarnUnused)
>> warn: worldfile ./rescue.world:18 : property [size] is defined but not
>> used (/home/s/Stage-3.2.1-Source/libstage/worldfile.cc WarnUnused)
>> warn: worldfile ./rescue.world:22 : property [gui_movemask] is defined
>> but not used (/home/s/Stage-3.2.1-Source/libstage/worldfile.cc
>> WarnUnused)
>> warn: worldfile ./rescue.world:25 : property [gui_movemask] is defined
>> but not used (/home/s/Stage-3.2.1-Source/libstage/worldfile.cc
>> WarnUnused)
>> warn: worldfile ./rescue.world:41 : property [polygon[0].point[0]] is
>> defined but not used (/home/s/Stage-3.2.1-Source/libstage/worldfile.cc
>> WarnUnused)
>> warn: worldfile ./rescue.world:42 : property [polygon[0].point[1]] is
>> defined but not used (/home/s/Stage-3.2.1-Source/libstage/worldfile.cc
>> WarnUnused)
>> warn: worldfile ./rescue.world:43 : property [polygon[0].point[2]] is
>> defined but not used (/home/s/Stage-3.2.1-Source/libstage/worldfile.cc
>> WarnUnused)
>> warn: worldfile ./rescue.world:44 : property [polygon[0].point[3]] is
>> defined but not used (/home/s/Stage-3.2.1-Source/libstage/worldfile.cc
>> WarnUnused)
>> warn: worldfile ./rescue.world:40 : property [polygon[0].points] is
>> defined but not used (/home/s/Stage-3.2.1-Source/libstage/worldfile.cc
>> WarnUnused)
>> warn: worldfile ./rescue.world:39 : property [polygons] is defined but
>> not used (/home/s/Stage-3.2.1-Source/libstage/worldfile.cc WarnUnused)
>> warn: worldfile ./rescue.world:46 : property [range_min] is defined
>> but not used (/home/s/Stage-3.2.1-Source/libstage/worldfile.cc
>> WarnUnused)
>>
>>  Stage plugin:  6665.position2d.0 is "robot"
>>  Stage plugin:  6665.laser.0 is "robot.laser:0"
>>
>>  Laser:0 Range:0 begins:-120 ends:120stage driver setup
>>
>>  Laser[0] Pose --> X=0 Y=0 Theta=0
>>  LASER Interface Loaded Success index:0Floating point exception
>> --
>>
>> So perhaps stage_test needs to be updated (as an example) please.
>>