Hi Jurgen, Thank you a lot for bumblebee2.patch. One possible cause of this problem would be /dev/raw1394. When I plugged in bumblebee2, /dev/raw1394 didn't found automatically. Thus, I plugged in DragonFly and /dev/raw1394 was found. If /dev/raw1394 was found automatically when you plugged in bumblebee2, I think DC1394_VIDEO_MODE_FORMAT7_3 could be the proper video mode for bumblebee2. Regarding the stereo_calibration, if you want to calibration data for showing a disparity image in ROS, you may find the data in the updateBumblebee2CalibrationData() in bumblebee2.cpp. I've got the calibration data by following http://www.ros.org/wiki/camera_calibration/Tutorials/StereoCalibration. Best, Soonhac Quoting Jürgen Sturm : > Hi, > > after some experiments, I discovered that our bumblebee apparently > only works with DC1394_VIDEO_MODE_FORMAT7_3. I have attached a patch > that adds this mode to the bumblebee package. Now I get the two stereo > images at normal video rates. > > Then I tried to run the stereo_calibration, but found that no camera > info is published yet (and no service is advertised..). Is somebody > already working on this, or has a solution for that? > > Thanks, > Juergen > > On Mon, Jun 14, 2010 at 8:17 PM, Jürgen Sturm > wrote: >> Hi Soonhac, >> >> thanks for the driver, howeve rI'm having the same problems as Abe: >> the driver hangs on my computer after calling dc1394_capture_dequeue. >> With coriander, I can view the video from one of the cameras (so >> firewire etc is working properly). >> >> After I launch the bumblebee node (and terminate it again with >> killall, because ctrl-c/z does not work), coriander also is unable to >> grab images from the camera, probably because of the unclean shutdown. >> >> Did anybody find a solution (or the reason) for this problem? >> >> Thanks >> Juergen >> >> On Tue, Jun 8, 2010 at 5:55 PM, Abe Bachrach wrote: >>> when I plug in the bumblebee, there are BOTH /dev/raw1394 and >>> /dev/video1394/0 >>> >>> I changed the permissions on both of them such that i have the proper >>> permissions (I can get images off the camera using coriander, and another >>> software package) >>> >>> from digging down a little more, it seems like the driver gets stuck in the >>> call to: >>> dc1394_capture_dequeue (camera_, DC1394_CAPTURE_POLICY_WAIT, &frame); >>> inside of the function >>> void Camera1394::readData(sensor_msgs::Image& image) >>> in dev_camera1394.cpp >>> >>> the call to dc1394_capture_dequeue just never returns. >>> >>> thanks! >>> -=Abe >>> >>> On Tue, Jun 8, 2010 at 10:17 AM, Soonhac Hong wrote: >>>> >>>> Hi Abe, >>>> Could you check if there is /dev/raw1394 or /dev/video1394? When I pluged >>>> bumblebee2 into ubuntu hardy, raw1394 didn't exist. Thus, I used other >>>> pointgray 1394 camera for /dev/raw1394 before pluging bumblebee2. If you >>>> have a permission problem, you may use chmod. Additionally, you may check >>>> published images by using $rostopic list. >>>> Best, >>>> Soonhac Hong >>>> On Jun 8, 2010, at 1:02 AM, Abe Bachrach wrote: >>>> >>>> Hi Sonnhac, >>>> Thanks for putting together the bumblebee2 plugin. >>>> Unforutnately I've been unable to get it to publish images with my bumblee >>>> camera... >>>> everything compiled fine, and seems to be working, however no images are >>>> published on the image channels: >>>> when I launch the driver, the LED on the bumblee goes bright, and i get >>>> the following output: >>>>> >>>>> abachrac@pinzolo:~/ros/pkgs/bumblebee2$ roslaunch bumblebee2 >>>>> Bumblebee2.launch >>>>> ... logging to >>>>> /home/abachrac/.ros/log/3287496e-72b8-11df-97ed-00219b1e7836/roslaunch-pinzolo-5748.log >>>>> started roslaunch server http://pinzolo:52475/ >>>>> SUMMARY >>>>> ======== >>>>> PARAMETERS >>>>>  * /bumblebee2/bayer_pattern >>>>>  * /bumblebee2/video_mode >>>>>  * /bumblebee2/gain >>>>>  * /bumblebee2/shutter >>>>>  * /bumblebee2/whitebalance >>>>>  * /bumblebee2/brightness >>>>>  * /bumblebee2/fps >>>>>  * /bumblebee2/bayer_method >>>>> NODES >>>>>   / >>>>>     bumblebee2 (bumblebee2/bumblebee2) >>>>> ROS_MASTER_URI=http://pinzolo:11311/ >>>>> core service [/rosout] found >>>>> process[bumblebee2-1]: started with pid [5767] >>>>> [ INFO] [1275972976.842327391]: Reconfigure request: brightness -1, >>>>> encoding , exposure -1, gain -1, shutter -1, whitebalance auto >>>>> [ INFO] [1275972976.842409323]: reconfigure level = 4294967295 >>>>> [ INFO] [1275972976.849244447]: [camera] video mode: 640x480_stereo_mono, >>>>> frame ID: /camera >>>>> [ INFO] [1275972977.014397825]: Found camera with GUID b09d010060d173 >>>>> [ INFO] [1275972977.014474607]: No guid specified, using first camera >>>>> found, GUID: b09d010060d173 >>>>> [ INFO] [1275972977.020052503]: [camera] connected to device, ID: >>>>> 00b09d010060d173 >>>>> [ INFO] [1275972977.024681309]: [camera] Auto Brightness set >>>>> [ INFO] [1275972977.029742081]: [camera] Auto Exposure set >>>>> [ INFO] [1275972977.031864626]: [camera] Auto Gain set >>>>> [ INFO] [1275972977.033989724]: [camera] Auto Shutter set >>>>> [ INFO] [1275972977.036315836]: [camera] Auto Whitebalance set >>>>> [ INFO] [1275972977.038513379]: [camera] Encoding set to >>>> >>>> But then nothing happens... >>>> any ideas? >>>> -=Abe >>>> On Thu, May 20, 2010 at 11:10 AM, wrote: >>>>> >>>>> Hi All, >>>>> >>>>> I'd like to release Bumblebee2 v1.0 at >>>>> http://code.google.com/p/cu-ros-pkg/. If there is any doubt or >>>>> problems, feel free to contact me. >>>>> >>>>> Best, >>>>> Soonhac Hong >>>>> _______________________________________________ >>>>> 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 >>> >>> >> >