Success! Thank you Anton--everything you said was bang on. So now I can see the disparity map with stereo_view and the point cloud in RViz. Finally I can add a data point to Chris' original problem which is that I don't have the same problem--my raw images are fine with nothing weird in the lower third of the image. However, I can also confirm Chris' observation that the videre_stereo_cam disparity_view node shows only blank windows for both the left and disparity images. It makes no difference if I run the STOC or non-STOC launch files (with stereo_image_proc running alongside the non-STOC case). BTW, I was surprised to see that running the STOC launch file (videre.launch) brought the CPU up to 31% whereas running the non-STOC launch file along with stereo_image_proc gave a total of only 10% CPU load for the pair of processes combined. Shouldn't I expect less load for the STOC situation since the stereo processing is being done on the camera? I'm running all of this on a 7-year-old HP Pavilion with a single-core AMD processor. --patrick On 02/12/2011 11:18 AM, Antons Rebguns wrote: > 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 >> > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users