And reading the second part of your email more carefully, I see that you already tried running in non-STOC mode :) Left and right shouldn't be the same image, there's a slight offset that you should be able to see if you put both images side by side. Try running stereo_image_proc on those and see if you get proper point cloud. Anton On Sat, Feb 12, 2011 at 11:59 AM, Patrick Goebel wrote: > 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 > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >