Dacha, what do your camera_info messages look like? Especially, the right image needs a nonzero stereo offset. --kk Sent from my iPhone On May 21, 2010, at 2:41 AM, Sacha Aury wrote: > 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 é >>>> crit : >>>> >>>>> 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 >> > > > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users