[ros-users] Bumblebee2 v1.0 release

Mon Jun 14 20:51:48 UTC 2010

Hi Jurgen,

Thank you a lot for bumblebee2.patch. One possible cause of this  
problem would be /dev/raw1394. When I plugged in bumblebee2,  
/dev/raw1394 didn't found automatically. Thus, I plugged in DragonFly  
and /dev/raw1394 was found. If /dev/raw1394 was found automatically  
when you plugged in bumblebee2, I think DC1394_VIDEO_MODE_FORMAT7_3  
could be the proper video mode for bumblebee2.

Regarding the stereo_calibration, if you want to calibration data for  
showing a disparity image in ROS, you may find the data in the  
updateBumblebee2CalibrationData() in bumblebee2.cpp. I've got the  
calibration data by following  
http://www.ros.org/wiki/camera_calibration/Tutorials/StereoCalibration.

Best,
Soonhac

Quoting Jürgen Sturm <sturm at informatik.uni-freiburg.de>:

> Hi,
>
> after some experiments, I discovered that our bumblebee apparently
> only works with DC1394_VIDEO_MODE_FORMAT7_3. I have attached a patch
> that adds this mode to the bumblebee package. Now I get the two stereo
> images at normal video rates.
>
> Then I tried to run the stereo_calibration, but found that no camera
> info is published yet (and no service is advertised..). Is somebody
> already working on this, or has a solution for that?
>
> Thanks,
> Juergen
>
> On Mon, Jun 14, 2010 at 8:17 PM, Jürgen Sturm
> <sturm at informatik.uni-freiburg.de> wrote:
>> Hi Soonhac,
>>
>> thanks for the driver, howeve rI'm having the same problems as Abe:
>> the driver hangs on my computer after calling dc1394_capture_dequeue.
>> With coriander, I can view the video from one of the cameras (so
>> firewire etc is working properly).
>>
>> After I launch the bumblebee node (and terminate it again with
>> killall, because ctrl-c/z does not work), coriander also is unable to
>> grab images from the camera, probably because of the unclean shutdown.
>>
>> Did anybody find a solution (or the reason) for this problem?
>>
>> Thanks
>> Juergen
>>
>> On Tue, Jun 8, 2010 at 5:55 PM, Abe Bachrach <abachrach at gmail.com> wrote:
>>> when I plug in the bumblebee, there are BOTH /dev/raw1394 and
>>> /dev/video1394/0
>>>
>>> I changed the permissions on both of them such that i have the proper
>>> permissions (I can get images off the camera using coriander, and another
>>> software package)
>>>
>>> from digging down a little more, it seems like the driver gets stuck in the
>>> call to:
>>> dc1394_capture_dequeue (camera_, DC1394_CAPTURE_POLICY_WAIT, &frame);
>>> inside of the function
>>> void Camera1394::readData(sensor_msgs::Image& image)
>>> in dev_camera1394.cpp
>>>
>>> the call to dc1394_capture_dequeue just never returns.
>>>
>>> thanks!
>>> -=Abe
>>>
>>> On Tue, Jun 8, 2010 at 10:17 AM, Soonhac Hong <sh2723 at columbia.edu> wrote:
>>>>
>>>> Hi Abe,
>>>> Could you check if there is /dev/raw1394 or /dev/video1394? When I pluged
>>>> bumblebee2 into ubuntu hardy, raw1394 didn't exist. Thus, I used other
>>>> pointgray 1394 camera for /dev/raw1394 before pluging bumblebee2. If you
>>>> have a permission problem, you may use chmod. Additionally, you may check
>>>> published images by using $rostopic list.
>>>> Best,
>>>> Soonhac Hong
>>>> On Jun 8, 2010, at 1:02 AM, Abe Bachrach <abachrac at mit.edu> wrote:
>>>>
>>>> Hi Sonnhac,
>>>> Thanks for putting together the bumblebee2 plugin.
>>>> Unforutnately I've been unable to get it to publish images with my bumblee
>>>> camera...
>>>> everything compiled fine, and seems to be working, however no images are
>>>> published on the image channels:
>>>> when I launch the driver, the LED on the bumblee goes bright, and i get
>>>> the following output:
>>>>>
>>>>> abachrac at pinzolo:~/ros/pkgs/bumblebee2$ roslaunch bumblebee2
>>>>> Bumblebee2.launch
>>>>> ... logging to
>>>>> /home/abachrac/.ros/log/3287496e-72b8-11df-97ed-00219b1e7836/roslaunch-pinzolo-5748.log
>>>>> started roslaunch server http://pinzolo:52475/
>>>>> SUMMARY
>>>>> ========
>>>>> PARAMETERS
>>>>>  * /bumblebee2/bayer_pattern
>>>>>  * /bumblebee2/video_mode
>>>>>  * /bumblebee2/gain
>>>>>  * /bumblebee2/shutter
>>>>>  * /bumblebee2/whitebalance
>>>>>  * /bumblebee2/brightness
>>>>>  * /bumblebee2/fps
>>>>>  * /bumblebee2/bayer_method
>>>>> NODES
>>>>>   /
>>>>>     bumblebee2 (bumblebee2/bumblebee2)
>>>>> ROS_MASTER_URI=http://pinzolo:11311/
>>>>> core service [/rosout] found
>>>>> process[bumblebee2-1]: started with pid [5767]
>>>>> [ INFO] [1275972976.842327391]: Reconfigure request: brightness -1,
>>>>> encoding , exposure -1, gain -1, shutter -1, whitebalance auto
>>>>> [ INFO] [1275972976.842409323]: reconfigure level = 4294967295
>>>>> [ INFO] [1275972976.849244447]: [camera] video mode: 640x480_stereo_mono,
>>>>> frame ID: /camera
>>>>> [ INFO] [1275972977.014397825]: Found camera with GUID b09d010060d173
>>>>> [ INFO] [1275972977.014474607]: No guid specified, using first camera
>>>>> found, GUID: b09d010060d173
>>>>> [ INFO] [1275972977.020052503]: [camera] connected to device, ID:
>>>>> 00b09d010060d173
>>>>> [ INFO] [1275972977.024681309]: [camera] Auto Brightness set
>>>>> [ INFO] [1275972977.029742081]: [camera] Auto Exposure set
>>>>> [ INFO] [1275972977.031864626]: [camera] Auto Gain set
>>>>> [ INFO] [1275972977.033989724]: [camera] Auto Shutter set
>>>>> [ INFO] [1275972977.036315836]: [camera] Auto Whitebalance set
>>>>> [ INFO] [1275972977.038513379]: [camera] Encoding set to
>>>>
>>>> But then nothing happens...
>>>> any ideas?
>>>> -=Abe
>>>> On Thu, May 20, 2010 at 11:10 AM, <sh2723 at columbia.edu> wrote:
>>>>>
>>>>> Hi All,
>>>>>
>>>>> I'd like to release Bumblebee2 v1.0 at
>>>>> http://code.google.com/p/cu-ros-pkg/. If there is any doubt or
>>>>> problems, feel free to contact me.
>>>>>
>>>>> Best,
>>>>> Soonhac Hong
>>>>> _______________________________________________
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>>>>> ros-users at code.ros.org
>>>>> https://code.ros.org/mailman/listinfo/ros-users
>>>>
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