Dear Radu Thanks for your help. Since my connection at work is not really fast, I will send the bag on http://fly.yozora-irc.net/shadow tonight. You can already see my disparity map and both left / right images at this place. Cheers, Sacha Le vendredi 21 mai 2010 à 08:55 -0700, Radu Bogdan Rusu a écrit : > 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 > >> > > > > >