Dear Radu, Even if I understand that having some not valid disparity values is possible, I actually do not have any good ones. Moreover, all my points are quite the same (0.0, 0.0, nan) which is a bit strange I think. What could I do to fix this ? I already tried to change parameters with dynamic_reconfigure, but it did not change anything. Cheers, Sacha Le jeudi 20 mai 2010 à 10:45 -0700, Radu Bogdan Rusu a écrit : > Dear Sacha, > > What you're seeing makes sense. Though your disparity "looks good", I am sure you don't have valid disparity values at > each pixel in the disparity image. None of us do :). What you are seeing as the output of rostopic echo is the list of > 3D points that do not have valid disparity values (we mark those with nan). > > Cheers, > Radu. > > On 05/20/2010 09:37 AM, Sacha Aury wrote: > > I do not really understand why, but I looked to the TF tutorial, added a > > few things to my program and rviz do not complain anymore. To recap, I > > now have a disparity map, rviz do not complain about a fixed_frame, but > > my goal is to get the points cloud. Rviz warns : > > [ WARN] 1274372115.122808000: TF_OLD_DATA ignoring data from the past > > for frame /test at time 16566 according to authority /camera_sync > > Possible reasons are listed at > > > > > > > > $rostopic echo /stereo/points | less : > > header: > > seq: 937 > > stamp: 18596000000000 > > frame_id: fixed_frame > > points: [ > > x: 0.0 > > y: 0.0 > > z: nan, > > x: 0.0 > > y: 0.0 > > z: nan, > > x: 0.0 > > y: 0.0 > > z: nan, > > x: 0.0 > > y: 0.0 > > z: nan, > > x: 0.0 > > y: 0.0 > > z: nan, > > x: 0.0 > > > > I don't get it, since my disparity map looks good. I can send you a > > screenshot of the map if you need it. > > So, why is the processing not sending the good coords ? I did not > > calibrate my cameras since I did not find a way to do it for stereo > > vision, is there a problem with that ? > > > > Thanks. > > > > Le mercredi 19 mai 2010 à 10:38 -0700, Josh Faust a écrit : > >> If you don't have a TF transform tree (http://ros.org/wiki/tf), the > >> fixed frame needs to match the frame you've set. You also need to set > >> the timestamp in the header. > >> > >> msg.header.stamp = ros::Time::now(); > >> > >> Josh > >> > >> On Wed, May 19, 2010 at 7:53 AM, Sacha Aury > >> wrote: > >> Thanks for your help. I now have a single node synchronizing > >> my two > >> cameras (image and infos). It works with the stereo_view and I > >> get the > >> disparity map, which I am configuring. My question is now > >> about rviz, > >> which I've never used. It seems to need a fixed frame to > >> display my 3D > >> cloud points. I tried to set a frame_id in my synchronization > >> node > >> (before broadcasting it to stereo_image_proc), but it does not > >> work, > >> rviz still can't get any fixed frame. > >> > >> How can I do that ? I think I am close to the result, but I > >> can't see > >> it ! > >> > >> Le mardi 18 mai 2010 à 09:07 -0700, Blaise Gassend a écrit : > >> > >> > Hi Sacha, > >> > > >> > stereo_image_proc doesn't care about when your message was > >> published, it > >> > just cares about the timestamp in the message. So your > >> republishing node > >> > needs to set the timestamp, both in the image topic and in > >> the > >> > camera_info topic. > >> > > >> > Blaise > >> > > >> > On Tue, 2010-05-18 at 16:29 +0100, Sacha Aury wrote: > >> > > I think that having a hardware solution is a bit overkill > >> for my > >> > > problem. So I tried to write a node which collected image > >> messages from > >> > > my two cameras and which published both message every x > >> seconds, > >> > > typically 1/2. And when I am using > >> image_pipeline/stereo_image_proc, I > >> > > got messages of that kind : > >> > > > >> > > [ WARN] 1274196325.866264000: [stereo_image_proc] Low > >> number of > >> > > synchronized left/right image pairs received. > >> > > Left images received: 831 > >> > > Right images received: 831 > >> > > Synchronized pairs: 0 > >> > > Possible issues: > >> > > * The cameras are not synchronized. > >> > > * The network is too slow. For each synchronized image > >> pair, at most 1 > >> > > is getting through. > >> > > > >> > > I don't know what I could do more, since the > >> synchronisation should be > >> > > done by a TimeSynchronizer in the stereo_image_proc class. > >> Could it be > >> > > posible to cheat on the timestamps in any way ? > >> > > > >> > > Thanks, and sorry for the double post, I made a mistake at > >> first. > >> > > > >> > > Le lundi 17 mai 2010 à 07:53 -0700, Gary Bradski a écrit : > >> > > > What level do you want synchronization on? Within > >> framerate (both > >> > > > frames happen randomly but within 1/30 of a second of > >> each other) or > >> > > > exact frame synchronization? The first is achievable, > >> the second needs > >> > > > extra hardware. > >> > > > > >> > > > At most, ROS can get you timestamps to align to, but to > >> get actual > >> > > > simultaneous frames, you'll need a triggering signal in > >> hardware such > >> > > > as a wire between 2 cameras (that allow for this). Some > >> 1394 cameras > >> > > > may allow triggering over the 1394 bus and then you'll > >> only have the > >> > > > problem of getting both buses to trigger at the same > >> time ... which > >> > > > may be approximately possible, most of the time ... on > >> average. > >> > > > Depends on the driver and the 1394 port. > >> > > > > >> > > > I've seen an automotive 1394 article (not ROS related) > >> where they have > >> > > > about 10 cameras. The cameras run the cameras at very > >> high framerates > >> > > > and then they do timestamp synchronization which allows > >> fairly > >> > > > synchronous alignment of multiple with no extra > >> hardware. > >> > > > > >> > > > Gary > >> > > > > >> > > > On Mon, May 17, 2010 at 5:23 AM, Sacha Aury > >> > >> > > > wrote: > >> > > > Hi, > >> > > > > >> > > > I am trying to make a stereo camera acquisition > >> using ROS with > >> > > > the > >> > > > cameradc1394 driver and the stereo_proc package. > >> I've got a > >> > > > separate > >> > > > computer to stream the image_raw from my two > >> cameras. The > >> > > > stream works, > >> > > > but when I launch stereo_image_proc, it seems > >> that my two > >> > > > cameras are > >> > > > not synchronized : > >> > > > > >> > > > [ WARN] 1274098675.074074000: > >> [stereo_image_proc] Low number > >> > > > of > >> > > > synchronized left/right image pairs received. > >> > > > Left images received: 3079 > >> > > > Right images received: 3076 > >> > > > Synchronized pairs: 0 > >> > > > Possible issues: > >> > > > * The cameras are not synchronized. > >> > > > * The network is too slow. For each > >> synchronized image > >> > > > pair, at most 1 > >> > > > is getting through. > >> > > > > >> > > > Here is my launch file : > >> > > > > >> > > > > >> > > > > >> > > > >> value="0"/> > >> > > > >> value="15"/> > >> > > > >> value="MODE_320x240_YUV422"/> > >> > > > > >> > > > >> > > > type="cameradc1394" > >> > > > respawn="true"> > >> > > > >> > > > value="/stereo/left/"/> > >> > > > >> value="0"/> > >> > > > > >> > > > > >> > > > > >> > > > >> > > > type="cameradc1394" > >> > > > respawn="true"> > >> > > > >> > > > value="/stereo/right/"/> > >> > > > >> value="1"/> > >> > > > > >> > > > > >> > > > > >> > > > > >> > > > Is there any specific way to make the two > >> cameras > >> > > > synchronize ? > >> > > > > >> > > > I am following that tutorial : > >> > > > > >> > > > http://www.ros.org/wiki/stereo_image_proc > >> > > > > >> > > > Thank you for any help. > >> > > > > >> > > > Sacha > >> > > > > >> > > > > >> > > > _______________________________________________ > >> > > > ros-users mailing list > >> > > > ros-users@code.ros.org > >> > > > https://code.ros.org/mailman/listinfo/ros-users > >> > > > > >> > > > _______________________________________________ > >> > > > ros-users mailing list > >> > > > ros-users@code.ros.org > >> > > > https://code.ros.org/mailman/listinfo/ros-users > >> > > > >> > > > >> > > _______________________________________________ > >> > > ros-users mailing list > >> > > ros-users@code.ros.org > >> > > https://code.ros.org/mailman/listinfo/ros-users > >> > > >> > > >> > _______________________________________________ > >> > ros-users mailing list > >> > ros-users@code.ros.org > >> > https://code.ros.org/mailman/listinfo/ros-users > >> > >> > >> _______________________________________________ > >> ros-users mailing list > >> ros-users@code.ros.org > >> https://code.ros.org/mailman/listinfo/ros-users > >> > >> > >> _______________________________________________ > >> ros-users mailing list > >> ros-users@code.ros.org > >> https://code.ros.org/mailman/listinfo/ros-users > > > > > > _______________________________________________ > > ros-users mailing list > > ros-users@code.ros.org > > https://code.ros.org/mailman/listinfo/ros-users >