Dear Sacha, Can you assemble a bag file with the following topics? Please replace "mystereo" with the name of your stereo camera: /mystereo/left/image_raw /mystereo/left/camera_info /mystereo/right/image_raw /mystereo/right/camera_info and upload it somewhere where I can access it? In the meantime, can you make a screenshot of the disparity image? Just visualize it using image_view, and save it to a jpg/png. Thanks, Radu. On 05/21/2010 02:41 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 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 >> > > -- | Radu Bogdan Rusu | http://rbrusu.com/