Patrick, > I'm using the latest revision 1188 and you are right again (of course!): > the default image topic for disparity_view is just "image" (under > /stereo/left) but I need image_mono or image_color.  So the following > works for the color image (for example): > > $ rosrun videre_stereo_cam disparity_view stereo:=stereo image:=image_color Good to hear! > And yes again, CPU load is actually 75% for stereo_image_proc + > videre_stereo_node when I run disparity_view at the same time (thereby > subscribing to /stereo/disparity.)  (RViz pegs everything at 100% > because I don't have a custom driver for the video card in this machine.) So, STOC mode does use less CPU overall, right? Anton > On 02/12/2011 04:02 PM, Antons Rebguns wrote: >> 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 >>> >> _______________________________________________ >> 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 >