Primensense and TF

[roliveiradoteu]

Hi

Have been attempting to run the code on a primesense carmine 1.09, without success.

ro@ThinkPad-T440p:~/catkin_ws$ rosrun dvo_ros camera_tracker
[ INFO] [1486660463.631199639]: CameraDenseTracker::ctor(...)
[ INFO] [1486660463.631886922]: reconfigured tracker, config ( First Level = 3, Last Level = 1, Max Iterations per Level = 50, Precision = 0.0001, Mu = 0, Use Initial Estimate = true, Use Weighting = false, Scale Estimator = TDistribution, Scale Estimator Param = 5, Influence Function = TDistribution, Influence Function Param = 5, Intensity Derivative Threshold = 0, Depth Derivative Threshold = 0 )
[ WARN] [1486660468.802340427]: using identity!
[ INFO] [1486660468.802437216]: transformation: base_link -> asus
1 0 0 0
0 1 0 0
0 0 1 0
0 0 0 1
[ INFO] [1486660468.805935735]: started camera_tracker...

The tracker is not finding any results and can't see any cloud in rviz.

My questions:

• do I need to change the code to update / change references to topics?
• do I need to manually setup TF's?

Any help will be more than welcomed.

My steps:
$ roslaunch openni2_launch openni2.launch
$ rosrun dvo_ros camera_tracker
$ rosrun dvo_slam camera_keyframe_tracker
$ rosrun rviz rviz

The publish topics are:

ro@ThinkPad-T440p:~/catkin_ws$ rostopic list
/camera/camera_nodelet_manager/bond
/camera/depth/camera_info
/camera/depth/image
/camera/depth/image/compressed
/camera/depth/image/compressed/parameter_descriptions
/camera/depth/image/compressed/parameter_updates
/camera/depth/image/compressedDepth
/camera/depth/image/compressedDepth/parameter_descriptions
/camera/depth/image/compressedDepth/parameter_updates
/camera/depth/image/theora
/camera/depth/image/theora/parameter_descriptions
/camera/depth/image/theora/parameter_updates
/camera/depth/image_raw
/camera/depth/image_raw/compressed
/camera/depth/image_raw/compressed/parameter_descriptions
/camera/depth/image_raw/compressed/parameter_updates
/camera/depth/image_raw/compressedDepth
/camera/depth/image_raw/compressedDepth/parameter_descriptions
/camera/depth/image_raw/compressedDepth/parameter_updates
/camera/depth/image_raw/theora
/camera/depth/image_raw/theora/parameter_descriptions
/camera/depth/image_raw/theora/parameter_updates
/camera/depth/image_rect
/camera/depth/image_rect/compressed
/camera/depth/image_rect/compressed/parameter_descriptions
/camera/depth/image_rect/compressed/parameter_updates
/camera/depth/image_rect/compressedDepth
/camera/depth/image_rect/compressedDepth/parameter_descriptions
/camera/depth/image_rect/compressedDepth/parameter_updates
/camera/depth/image_rect/theora
/camera/depth/image_rect/theora/parameter_descriptions
/camera/depth/image_rect/theora/parameter_updates
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/depth/image_rect_raw/compressed/parameter_descriptions
/camera/depth/image_rect_raw/compressed/parameter_updates
/camera/depth/image_rect_raw/compressedDepth
/camera/depth/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth/image_rect_raw/compressedDepth/parameter_updates
/camera/depth/image_rect_raw/theora
/camera/depth/image_rect_raw/theora/parameter_descriptions
/camera/depth/image_rect_raw/theora/parameter_updates
/camera/depth/points
/camera/depth_rectify_depth/parameter_descriptions
/camera/depth_rectify_depth/parameter_updates
/camera/depth_registered/camera_info
/camera/depth_registered/image_raw
/camera/depth_registered/image_raw/compressed
/camera/depth_registered/image_raw/compressed/parameter_descriptions
/camera/depth_registered/image_raw/compressed/parameter_updates
/camera/depth_registered/image_raw/compressedDepth
/camera/depth_registered/image_raw/compressedDepth/parameter_descriptions
/camera/depth_registered/image_raw/compressedDepth/parameter_updates
/camera/depth_registered/image_raw/theora
/camera/depth_registered/image_raw/theora/parameter_descriptions
/camera/depth_registered/image_raw/theora/parameter_updates
/camera/depth_registered/image_rect_raw
/camera/depth_registered/points
/camera/depth_registered/sw_registered/camera_info
/camera/depth_registered/sw_registered/image_rect
/camera/depth_registered/sw_registered/image_rect/compressed
/camera/depth_registered/sw_registered/image_rect/compressed/parameter_descriptions
/camera/depth_registered/sw_registered/image_rect/compressed/parameter_updates
/camera/depth_registered/sw_registered/image_rect/compressedDepth
/camera/depth_registered/sw_registered/image_rect/compressedDepth/parameter_descriptions
/camera/depth_registered/sw_registered/image_rect/compressedDepth/parameter_updates
/camera/depth_registered/sw_registered/image_rect/theora
/camera/depth_registered/sw_registered/image_rect/theora/parameter_descriptions
/camera/depth_registered/sw_registered/image_rect/theora/parameter_updates
/camera/depth_registered/sw_registered/image_rect_raw
/camera/depth_registered/sw_registered/image_rect_raw/compressed
/camera/depth_registered/sw_registered/image_rect_raw/compressed/parameter_descriptions
/camera/depth_registered/sw_registered/image_rect_raw/compressed/parameter_updates
/camera/depth_registered/sw_registered/image_rect_raw/compressedDepth
/camera/depth_registered/sw_registered/image_rect_raw/compressedDepth/parameter_descriptions
/camera/depth_registered/sw_registered/image_rect_raw/compressedDepth/parameter_updates
/camera/depth_registered/sw_registered/image_rect_raw/theora
/camera/depth_registered/sw_registered/image_rect_raw/theora/parameter_descriptions
/camera/depth_registered/sw_registered/image_rect_raw/theora/parameter_updates
/camera/driver/parameter_descriptions
/camera/driver/parameter_updates
/camera/ir/camera_info
/camera/ir/image
/camera/ir/image/compressed
/camera/ir/image/compressed/parameter_descriptions
/camera/ir/image/compressed/parameter_updates
/camera/ir/image/compressedDepth
/camera/ir/image/compressedDepth/parameter_descriptions
/camera/ir/image/compressedDepth/parameter_updates
/camera/ir/image/theora
/camera/ir/image/theora/parameter_descriptions
/camera/ir/image/theora/parameter_updates
/camera/rectify_color/parameter_descriptions
/camera/rectify_color/parameter_updates
/camera/rgb/camera_info
/camera/rgb/image_raw
/camera/rgb/image_raw/compressed
/camera/rgb/image_raw/compressed/parameter_descriptions
/camera/rgb/image_raw/compressed/parameter_updates
/camera/rgb/image_raw/compressedDepth
/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/camera/rgb/image_raw/compressedDepth/parameter_updates
/camera/rgb/image_raw/theora
/camera/rgb/image_raw/theora/parameter_descriptions
/camera/rgb/image_raw/theora/parameter_updates
/camera/rgb/image_rect
/camera/rgb/image_rect_color
/camera/rgb/image_rect_color/compressed
/camera/rgb/image_rect_color/compressed/parameter_descriptions
/camera/rgb/image_rect_color/compressed/parameter_updates
/camera/rgb/image_rect_color/compressedDepth
/camera/rgb/image_rect_color/compressedDepth/parameter_descriptions
/camera/rgb/image_rect_color/compressedDepth/parameter_updates
/camera/rgb/image_rect_color/theora
/camera/rgb/image_rect_color/theora/parameter_descriptions
/camera/rgb/image_rect_color/theora/parameter_updates
/camera_keyframe_tracker/slam/parameter_descriptions
/camera_keyframe_tracker/slam/parameter_updates
/camera_keyframe_tracker/tracking/parameter_descriptions
/camera_keyframe_tracker/tracking/parameter_updates
/camera_tracker/parameter_descriptions
/camera_tracker/parameter_updates
/clicked_point
/cloud
/dvo_vis/graph/parameter_descriptions
/dvo_vis/graph/parameter_updates
/dvo_vis/image
/dvo_vis/image/compressed
/dvo_vis/image/compressed/parameter_descriptions
/dvo_vis/image/compressed/parameter_updates
/dvo_vis/image/compressedDepth
/dvo_vis/image/compressedDepth/parameter_descriptions
/dvo_vis/image/compressedDepth/parameter_updates
/dvo_vis/image/theora
/dvo_vis/image/theora/parameter_descriptions
/dvo_vis/image/theora/parameter_updates
/feedback
/image
/image/compressed
/image/compressed/parameter_descriptions
/image/compressed/parameter_updates
/image/compressedDepth
/image/compressedDepth/parameter_descriptions
/image/compressedDepth/parameter_updates
/image/theora
/image/theora/parameter_descriptions
/image/theora/parameter_updates
/initialpose
/move_base_simple/goal
/pelican/pose
/pose
/rgbd/pose
/rosout
/rosout_agg
/tf
/tf_static
/update
/update_full

//RO