Dear Sacha, Thanks for the uploading the data. I had a look at the bag file that you recorded, and as far as I can tell, it looks like the camera_info is screwed up: header: seq: 2145 stamp: 2144000000000 frame_id: fixed_frame height: 240 width: 320 roi: x_offset: 100 y_offset: 0 height: 240 width: 320 D: [0.0, 0.0, 0.0, 0.0, 0.0] K: [inf, 0.0, 159.5, 0.0, inf, 119.5, 0.0, 0.0, 1.0] R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0] P: [inf, 0.0, 159.5, 0.0, 0.0, inf, 119.5, 0.0, 0.0, 0.0, 1.0, 0.0] Did you calibrate the cameras using the instructions on the wiki? Having inf values in K and P is bad :) Cheers, Radu. On 05/21/2010 09:15 AM, Sacha Aury wrote: > 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 >>>> >>> >>> >> > > -- | Radu Bogdan Rusu | http://rbrusu.com/