Great suggestion! I can fire up videre_stereo_cam/launch/videre.launch without error (full startup messages listed below). However (and perhaps this is related to the problems with smallv and coriander), I can only see the left image. So running $ rosrun image_view ime_view image:=stereo/left/image_raw gives me an image but $ rosrun image_view ime_view image:=stereo/right/image_raw gives me a blank window. I get both left and right images in Windows when running smallv. Running rostopic list gives: /diagnostics /rosout /rosout_agg /stereo/disparity /stereo/left/camera_info /stereo/left/image_color /stereo/left/image_color/compressed /stereo/left/image_color/theora /stereo/left/image_mono /stereo/left/image_mono/compressed /stereo/left/image_mono/theora /stereo/left/image_raw /stereo/left/image_raw/compressed /stereo/left/image_raw/theora /stereo/left/image_rect /stereo/left/image_rect/compressed /stereo/left/image_rect/theora /stereo/left/image_rect_color /stereo/left/image_rect_color/compressed /stereo/left/image_rect_color/theora /stereo/points /stereo/points2 /stereo/videre_stereo_cam/parameter_descriptions /stereo/videre_stereo_cam/parameter_updates confirming only the left image is being published. So then I tried videre_non_stoc.launch and this time rostopic list shows: /diagnostics /rosout /rosout_agg /stereo/left/camera_info /stereo/left/image_raw /stereo/left/image_raw/compressed /stereo/left/image_raw/theora /stereo/right/camera_info /stereo/right/image_raw /stereo/right/image_raw/compressed /stereo/right/image_raw/theora /stereo/videre_stereo_cam/parameter_descriptions /stereo/videre_stereo_cam/parameter_updates And I get images for both left and right in image_view thought I'm not sure they aren't just the same image(?). --patrick P.S. Here are the startup messages when running videre.launch: started roslaunch server http://pi-ubuntu:33721/ SUMMARY ======== PARAMETERS * /stereo/videre_stereo_cam/frame_id * /stereo/videre_stereo_cam/fps * /stereo/videre_stereo_cam/exposure_auto * /stereo/videre_stereo_cam/videre_mode * /stereo/videre_stereo_cam/gain_auto * /stereo/videre_stereo_cam/brightness_auto * /stereo/videre_stereo_cam/convert_to_color NODES /stereo/ videre_stereo_cam (videre_stereo_cam/videre_stereo_node) ROS_MASTER_URI=http://pi-ubuntu:11311/ core service [/rosout] found process[videre_stereo_cam-1]: started with pid [2693] [ INFO] [1297535349.547920863]: Resetting bus [ INFO] [1297535349.550777061]: Initializing camera, turning off ISO [ INFO] [1297535349.620761024]: [dcam] Videre camera, getting local params [ INFO] [1297535349.621693078]: [dcam] Camera firmware: 07.01 [ INFO] [1297535349.622254601]: [dcam] Imager firmware: 0008 [ INFO] [1297535349.622468767]: [Dcam] Found stereo device [ INFO] [1297535349.623208715]: [dcam] STOC version: 04.02 [ INFO] [1297535349.624290434]: [dcam] STOC thresholds: 00010c0a [ INFO] [1297535349.925963168]: [dcam] Calibration, 1975 bytes [ INFO] [1297535349.928050938]: [dcam] Color device [ INFO] [1297535349.928625025]: [dcam] Feature register hi: d2800000 [ INFO] [1297535349.929191015]: [dcam] Feature register lo: 00000000 [ INFO] [1297535349.933219402]: [Dcam] Exposure min/max: [0,529] [ INFO] [1297535349.939681518]: [Dcam] Gain min/max: [0,48] [ INFO] [1297535349.944065080]: [Dcam] Brightness min/max: [0,255] [ INFO] [1297535349.946369249]: [Dcam] Whitebalance min/max: [0,30] [extractParams] Parameters: [dcam] SVS-type parameters [dcam] Disparity resolution: 1/16 pixel [dcam] Correlation window: 15 [dcam] Prefilter window: 9 [dcam] Number of disparities: 64 [dcam] left camera matrix (K) 508.5466 0.0000 316.0090 0.0000 510.9624 240.5289 0.0000 0.0000 1.0000 [dcam] left distortion vector (D) -0.4300 0.2907 0.0000 0.0000 -0.1297 [dcam] left rectification matrix (R) 0.9999 0.0019 -0.0109 -0.0020 1.0000 -0.0031 0.0109 0.0031 0.9999 [dcam] left projection matrix (P) 515.0000 0.0000 321.6060 0.0000 0.0000 515.0000 227.1362 0.0000 0.0000 0.0000 1.0000 0.0000 [dcam] right camera matrix (K) 511.9488 0.0000 298.7494 0.0000 514.7863 216.4977 0.0000 0.0000 1.0000 [dcam] right distortion vector (D) -0.4172 0.2647 0.0000 0.0000 -0.1200 [dcam] right rectification matrix (R) 1.0000 0.0005 -0.0081 -0.0005 1.0000 0.0031 0.0081 -0.0031 1.0000 [dcam] right projection matrix (P) 515.0000 0.0000 321.6060 -31.2624 0.0000 515.0000 227.1362 0.0000 0.0000 0.0000 1.0000 0.0000 [dcam] Has rectification [dcam] External translation vector -0.0607 -0.0000 0.0005 [dcam] External rotation vector 0.0062 -0.0028 -0.0015 [ INFO] [1297535350.228984827]: Connecting to camera with GUID 23930887758951554 [VIDERE_DESIGN MDS-STH] [ INFO] [1297535350.229400314]: Connected camera is a STOC device [ INFO] [1297535350.547844460]: Camera reconfigure request received, level 0xffffffff [ INFO] [1297535350.549813279]: Setting mode to disparity_raw [ INFO] [1297535350.549879176]: Color conversion from Bayer pattern is Enabled [ INFO] [1297535354.483589444]: Stereo camera's frame ID is /stereo_optical_frame [ INFO] [1297535354.483729336]: Setting Exposure to Auto setting [ INFO] [1297535354.483775129]: Setting Gain to Auto setting [ INFO] [1297535354.483817571]: Setting Brightness to Auto setting [ INFO] [1297535354.483859176]: Setting Whitebalance to Auto setting [ INFO] [1297535354.483900501]: Companding mode is Enabled [ INFO] [1297535354.483941547]: High Dynamic Range mode is Disabled [ INFO] [1297535354.634338543]: STOC: uniqueness threshold is set to 36 [ INFO] [1297535354.634449116]: STOC: texture threshold is set to 30 [ INFO] [1297535354.634493234]: STOC: speckle size is set to 100 [ INFO] [1297535354.634535118]: STOC: speckle range is set to 10 [ INFO] [1297535354.634576722]: STOC: horopter is set to 0 [ INFO] [1297535354.634618327]: ------------------------------------------- [ INFO] [1297535354.986294204]: Streaming... On 02/12/2011 10:20 AM, Antons Rebguns wrote: > Patrick, > > You could also try running the ROS driver videre_stereo_cam in > ua-ros-pkg. Just run roslaunch videre_stereo_cam videre.launch to run > the camera in stoc mode. I am not sure it's going to work since > neither coriander nor svs works, but you can give it a shot. > > Anton > > On Sat, Feb 12, 2011 at 11:03 AM, Patrick Goebel wrote: >> It occurred to me that I have an old digital video camera that uses >> Firewire. So I installed kino, plugged in the camera to the same >> Firewire port I've been using with the STOC camera and presto, I am able >> to control the camera and capture some video. >> >> So I'm wondering if my problem is not having the Videre driver installed >> correctly. In fact, I'm not even sure what installing the driver might >> mean beyond what I did in the beginning which was: I unpacked the >> original SVS tgz file into /home/patrick/bin/svs. Then: >> >> $ export LD_LIBRARY_PATH=/home/patrick/bin/svs/bin:$LD_LIBRARY_PATH >> $ cd /usr/lib >> $ sudo ln -s libraw1394.so.11.0.1 libraw1394.so.8 >> $ sudo ldconfig >> >> Is there something else I need to do to make sure the STOC driver is >> being accessed? >> >> --patrick >> >> >> >> On 02/12/2011 09:10 AM, Patrick Goebel wrote: >>> Many thanks Anton and Jack! Changing the permissions and group (video) >>> on /dev/raw1394 got me a little further but there is still a problem. >>> Coriander now comes up and shows "VIDERE_DESIGN MDS-STH" under the >>> Camera Select menu but the window is completely unresponsive--clicking >>> on tabs and buttons has no effect. Typing Ctrl-C in the launching >>> terminal kills the coriander window but does not return the command >>> prompt and coriander is listed as a defunct process. Also, trying to >>> run smallv simply hangs after issuing the command--no window ever >>> appears and neither Ctrl-C nor 'pkill -9 smallv' in another terminal can >>> kill it... >>> >>> Just to summarize: >>> >>> ls -l /dev/raw1394 >>> crwxrwxrwx 1 root video 171, 0 2011-02-12 08:57 /dev/raw1394 >>> >>> uid=1000(patrick) gid=1000(patrick) >>> groups=4(adm),6(disk),20(dialout),24(cdrom),44(video),46(plugdev),104(lpadmin),115(admin),120(sambashare),1000(patrick) >>> >>> ls -l /dev/video1394/ >>> total 0 >>> crwxrwxrwx+ 1 root video 171, 16 2011-02-12 08:57 0 >>> crwxrwxrwx+ 1 root video 171, 17 2011-02-12 08:57 1 >>> >>> Any other thoughts? >>> >>> --patrick >>> >>> >>> On 02/12/2011 08:46 AM, Antons Rebguns wrote: >>>> What I always have to do is set RW permissions on /dev/raw1394, I >>>> never had to touch /dev/video1394. After that everything usually works >>>> just fine. >>>> >>>> Anton >>>> >>>> On Sat, Feb 12, 2011 at 9:39 AM, Jack O'Quin wrote: >>>>> On Sat, Feb 12, 2011 at 10:18 AM, Patrick Goebel wrote: >>>>> >>>>>> I made sure I am a member of both the disk and video groups and I did a >>>>>> chmod 777 on dev/video1394/* so that ls -l dev/video1394/* gives: >>>>>> >>>>>> crwxrwxrwx+ 1 root video 171, 16 2011-02-12 07:59 0 >>>>>> crwxrwxrwx+ 1 root video 171, 17 2011-02-12 07:59 >>>>> >>>>> You probably need to do something similar for /dev/raw1394: >>>>> >>>>> http://www.ros.org/wiki/camera1394/Troubleshooting#No_Bus_Access_Permissions >>>>> -- >>>>> joq >>>>> _______________________________________________ >>>>> 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