[ros-users] image_proc doesn't work with camera1394

[Eric Perko]

Hi all,

I'm currently trying to use the ROS image_pipeline and the new
camera1394 driver to get some Point Grey 1394 cameras up and running.
For some reason, I am unable to view any of the topic being published
by image_proc. First, here is the launch file I am using to start up
the camera and image_proc:

<launch>
<node pkg="camera1394" type="camera1394" name="left">
<param name="guid" value="00b09d010061ab25" />
<param name="video_mode" value="640x480_rgb" />
<param name="camera_info_manager/url"
value="file:///home/eric/code/cwrucam/cwrucam/calibration/calibration_left.yaml"
/>
</node>
<node pkg="image_proc" type="image_proc" name="proc" ns="left/camera" />
</launch>

After running this, I get the following output from rostopic list -v:

Published topics:
 * /left/camera/image_rect_color [sensor_msgs/Image] 1 publisher
 * /left/camera/image_rect [sensor_msgs/Image] 1 publisher
 * /left/camera/camera_info [sensor_msgs/CameraInfo] 1 publisher
 * /rosout [roslib/Log] 2 publishers
 * /left/camera/image_raw [sensor_msgs/Image] 1 publisher
 * /rosout_agg [roslib/Log] 1 publisher
 * /left/camera/image_color [sensor_msgs/Image] 1 publisher
 * /left/camera/image_mono [sensor_msgs/Image] 1 publisher

Subscribed topics:
 * /clock [unknown type] 3 subscribers
 * /rosout [roslib/Log] 1 subscriber

So, based on that, I can see that the image_proc node is actually up
and running. I am able to do "rosrun image_view image_view
image:=/left/camera/image_raw" and see the color image from my camera
streaming in. rostopic hz also confirms that both
/left/camera/image_raw and /left/camera/camera_info are running at
about 15 fps.

Now, when I run "rosrun image_view image_view
image:=/left/camera/image_rect_color" (or any other image_proc
published topic), I get a blank window with no image in it. Running
rostopic list -v again while the image_view node is running gives me
the following:

Published topics:
 * /left/camera/image_rect_color [sensor_msgs/Image] 1 publisher
 * /left/camera/image_rect [sensor_msgs/Image] 1 publisher
 * /left/camera/camera_info [sensor_msgs/CameraInfo] 1 publisher
 * /rosout [roslib/Log] 3 publishers
 * /left/camera/image_raw [sensor_msgs/Image] 1 publisher
 * /rosout_agg [roslib/Log] 1 publisher
 * /left/camera/image_color [sensor_msgs/Image] 1 publisher
 * /left/camera/image_mono [sensor_msgs/Image] 1 publisher

Subscribed topics:
 * /left/camera/image_rect_color [sensor_msgs/Image] 1 subscriber
 * /clock [unknown type] 4 subscribers
 * /left/camera/camera_info [sensor_msgs/CameraInfo] 1 subscriber
 * /rosout [roslib/Log] 1 subscriber
 * /left/camera/image_raw [sensor_msgs/Image] 1 subscriber

So, I can see that image_proc is subscribing to the correct topics and
image_view is also on the correct topic. I also tried starting the
image_proc node from the command line as indicated at
http://www.ros.org/wiki/image_proc but got the exact same behavior as
with the launch file. In either case, rostopic hz
/left/camera/image_rect_color just outputs that it is subscribing to
the topic and waits.

I'm pretty sure the camera is properly calibrated, as I just finished
calibrating it using the directions at
http://www.ros.org/wiki/camera_calibration/Tutorials/MonocularCalibration
and it worked fine and output a .yaml file when I hit upload in the
calibration GUI. rostopic echo on the /left/camera/camera_info topic
gives me the values that are in the calibration file. I'm assuming
that even if the calibration were somehow off, I should still at least
see the image_pipeline attempting to display an image_rect_color
topic.

So, I'm a bit stumped as to what to do to narrow down what is causing
this behavior, since I get no error output in any of my terminal
windows. I'm running the latest based on these .rosinstall files:
http://ros.org/rosinstalls/latest_pr2.rosinstall with
http://www.ros.org/rosinstalls/wg_latest_devel.rosinstall in an
overlay.

Are there some steps I can take to try to debug this problem? Has
anyone else experienced this type of issue with the new camera1394
driver?

Thanks in advance,
Eric Perko
wisesage5001 at gmail.com
eric.perko at case.edu
mobilerobots.case.edu