Patrick, > 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. Great! Glad to hear the camera works for you. >  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). What revision are you using, I thought I fixed that in r1187? Did you remap the image to the actual image coming from the camera? It prints topics it is subscribing to, make sure these are correct. > 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. Hmm, I highly doubt that the camera driver + stereo_image_proc takes only 10% on a single core machine. stereo_image_proc doesn't do any processing unless there are subscribes to the data it produces, e.g. if you subscribe to point cloud topic, I would expect the load to be much higher than 10%. I remember from my testing when I was writing the driver, the STOC mode did use less CPU overall. Could you verify that you are subscribing to the point cloud? Thanks, Anton > > 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 > _______________________________________________ > ros-users mailing list > ros-users@code.ros.org > https://code.ros.org/mailman/listinfo/ros-users >