On Fri, Mar 19, 2010 at 5:23 AM, Peshala wrote: > >> The current version publishes //camera/image_raw for >> compatibility with the other camera drivers. It should display in >> rviz, although rviz will complain: >> >>   Status error >>   CameraInfo/P resulted in an invalid position calculation (nans or >> infs) >> You can update svn and try it again. To find the correct topic name in >> rviz. click on the [...] box to the right of the Image Topic field >> under Camera. > Jack, > Thank you very much for your reply. > > Here is my current status. > I tried using both camera1394 and cameradc1394 nodes. But still rviz > does not display any images. > When camera1394 was run, rostopic echo /camera1394/image does not > display anything. So I assume there is no way rviz can display any > images. That is not the topic name it should be publishing. Try "rostopic list", it should show a topic name like /camera1394/camera/image_raw (assuming "camera1394" is the node name). Try viewing that with image_view: $ rosrun image_view image_view image:=/camera1394/camera/image_raw If that works, your camera is responding. > When cameradc1394 was run, rostopic echo /camera1394/image display data. > But still, as you mentioned, I could not find /camera/image_raw but > instead the topics > -Image(sensor_msgs/Image) > -image(sensor_msgs/Image) > -OriginalImage(sensor_msgs/Image) are there. > rviz gives the following warning for this case. > Discarding message from [/cameraopencv] due to empty frame_id. Most of the compatibility issues with camera1394 probably affect cameradc1394 similarly. Saving and restoring calibration data is the main problem right now. The Willow Garage cameras have non-volatile memory where they can save CameraInfo on the device. That does not work for 1394 cameras. The frame_id issue is probably unique to cameradc1394. It needs to be set in the Header of the sensor_msgs/Image (and sensor_msg/CameraInfo) messages. I don't think cameradc1394 is publishing CameraInfo yet. If not, rviz refuses to show the image. > Should I calibrate the camera first? > I did the svn update but still something is missing. Calibrating the camera will not help much until I get some code written to save and restore the calibration data. There has been some recent discussion about the best way to do that. -- joq