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

Jack O'Quin jack.oquin at gmail.com
Sat Mar 27 13:26:03 UTC 2010 

On Thu, Mar 25, 2010 at 6:35 PM, Eric Perko <wisesage5001 at gmail.com> wrote:
> 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.

> 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?

I am seeing similar problems. I tried it briefly yesterday, but did
not have time to dig very deeply. Here is a follow-up report on where
I am so far...

On my system, image_proc is *not* subscribing to the image_raw output
from the driver. The image_view node *does* subscribe and works fine.

joq at vision-4:~$ rosnode info /test_camera/camera/image_proc_1269693701464224000
--------------------------------------------------------------------------------
Node [/test_camera/camera/image_proc_1269693701464224000]

Publications:
 * /rosout [roslib/Log]
 * /test_camera/camera/image_mono [sensor_msgs/Image]
 * /test_camera/camera/image_rect/compressed [sensor_msgs/CompressedImage]
 * /test_camera/camera/image_mono/compressed [sensor_msgs/CompressedImage]
 * /test_camera/camera/image_color/compressed [sensor_msgs/CompressedImage]
 * /test_camera/camera/image_mono/theora [theora_image_transport/packet]
 * /test_camera/camera/image_rect [sensor_msgs/Image]
 * /test_camera/camera/image_rect_color/theora [theora_image_transport/packet]
 * /test_camera/camera/image_rect/theora [theora_image_transport/packet]
 * /test_camera/camera/image_color [sensor_msgs/Image]
 * /test_camera/camera/image_color/theora [theora_image_transport/packet]
 * /test_camera/camera/image_rect_color/compressed [sensor_msgs/CompressedImage]
 * /test_camera/camera/image_rect_color [sensor_msgs/Image]

Subscriptions:
 * /time [unknown type]
 * /clock [unknown type]

Services:
 * /test_camera/camera/image_proc_1269693701464224000/get_loggers
 * /test_camera/camera/image_proc_1269693701464224000/set_logger_level

contacting node http://vision-4:40010/ ...
Pid: 23544
Connections:
 * topic: /rosout
    * to: /rosout
    * direction: outbound
    * transport: TCPROS

joq at vision-4:~$ rosnode info /image_view_1269390714813267000
--------------------------------------------------------------------------------
Node [/image_view_1269390714813267000]

Publications:
 * /rosout [roslib/Log]

Subscriptions:
 * /time [unknown type]
 * /clock [unknown type]
 * /test_camera/camera/image_raw [sensor_msgs/Image]

Services:
 * /image_view_1269390714813267000/get_loggers
 * /image_view_1269390714813267000/set_logger_level

contacting node http://vision-4:47223/ ...
Pid: 22116
Connections:
 * topic: /rosout
    * to: /rosout
    * direction: outbound
    * transport: TCPROS
 * topic: /test_camera/camera/image_raw
    * to: http://vision-4:41029/
    * direction: inbound
    * transport: TCPROS

(Note the missing subscription to /test_camera/camera/image_raw
[sensor_msgs/Image] for the image_proc node.)

I can't tell whether this may be what is happening to you as well. I
don't know why the topic is not subscribed, but that explains why no
data are published farther down the pipeline.

I used the ROS_NAMESPACE=/test_camera/camera trick for starting
image_proc. Maybe I am doing something wrong, but that is not clear
from the http://ros.org/wiki/image_proc docs. Is there any more
documentation on that node? Does it really have no parameters?

I am running all this with the boxturtle release on Ubuntu 9.10.

Since I am new to image_proc, pointers or suggestions from everyone
would be helpful.
-- 
 joq

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