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

[Eric Perko]

Jeremy,

>Are there images on any of the other image_proc topics?  image_mono,
> or image_rect for example

Nope, doing 'rosrun image_view image_view
image:=/left/camera/image_mono' doesn't work and neither do any of the
other image_proc topics. I get a blank window with no image in it.

> Are there actually no publications, or is the image just empty?  what
> does: "rostopic hz test_camera/camera/image_color" tell you?

Trying that:
eric at ericps-apple:~$ rostopic hz /left/camera/image_color
subscribed to [/left/camera/image_color]

and no other output, so it just subscribes to the topic then sits and waits.

> What do you get if you run "rostopic echo
> /test_camera/camera/image_raw.encoding".
>
> I'm wondering if the raw image is possibly coming in with an encoding
> that image_proc doesn't know how to handle.

eric at ericps-apple:~$ rostopic echo /left/camera/image_raw.encoding
WARNING: topic [/left/camera/image_raw.encoding] does not appear to be
published yet

That seems like it could be a problem... what does image_proc do if
there is no encoding being published? Can image_view handle viewing
images without an encoding specified but image_proc needs one in order
to function?

> Could you also "rostopic echo /test_camera/camera/camera_info" and
> send the contents of that with your next message?  If the camera
> calibration matrices aren't being populated correctly that could also
> explain image_proc failing.

Output from 'rostopic echo /left/camera/camera_info':
header:
  seq: 9696
  stamp: 0
  frame_id: /left
height: 480
width: 640
roi:
  x_offset: 0
  y_offset: 0
  height: 0
  width: 0
D: [0.0767399, -45.545000000000002, -0.0082900200000000004,
-0.0049552199999999998, 0.0]
K: [3393.8000000000002, 0.0, 286.39699999999999, 0.0, 3381.29,
290.20400000000001, 0.0, 0.0, 1.0]
R: [1.0, 0.0, 0.0, 0.0, 1.0, 0.0, 0.0, 0.0, 1.0]
P: [3393.8000000000002, 0.0, 286.39699999999999, 0.0, 0.0, 3381.29,
290.20400000000001, 0.0, 0.0, 0.0, 1.0, 0.0]

That info matches up with the .yaml file I posted a few messages ago
that the driver should be loading to get calibration data.

> Lastly, I don't suppose there are any warnings or errors being
> published to rosout?

I haven't seen any warnings beyond the one I got after trying to echo
the encoding as above. If it helps, I have attached the contents of
the logging directory for the launch I did to test all of these
things.

- Eric

On Sat, Mar 27, 2010 at 7:55 PM, Jeremy Leibs <leibs at willowgarage.com> wrote:
> On Sat, Mar 27, 2010 at 11:31 AM, Jack O'Quin <jack.oquin at gmail.com> wrote:
>> On Sat, Mar 27, 2010 at 11:30 AM, Jeremy Leibs <leibs at willowgarage.com> wrote:
>
>>>
>>> Do you have a downstream node subscribed to one of the processed image topics?
>>
>> I did not, and that was the cause of the "failure" to subscribe.
>>
>> Running image_view on the image_color output does indeed cause
>> image_proc to subscribe to image_raw. Unfortunately, there are still
>> no messages published on image_color, so that display window is blank.
>>
>> But, that seems to get me closer to reproducing Eric's original problem.
>>
>> Thanks, Jeremy!
>>
>> I can still view the original image_raw topic, so the driver does seem to work.
>>
>> Further suggestions are (always) welcome...
>
> Couple of other things to try:
>
> Are there images on any of the other image_proc topics?  image_mono,
> or image_rect for example
>
> Are there actually no publications, or is the image just empty?  what
> does: "rostopic hz test_camera/camera/image_color" tell you?
>
> What do you get if you run "rostopic echo
> /test_camera/camera/image_raw.encoding".
>
> I'm wondering if the raw image is possibly coming in with an encoding
> that image_proc doesn't know how to handle.
>
> Could you also "rostopic echo /test_camera/camera/camera_info" and
> send the contents of that with your next message?  If the camera
> calibration matrices aren't being populated correctly that could also
> explain image_proc failing.
>
> Lastly, I don't suppose there are any warnings or errors being
> published to rosout?
>
> Good luck!
> --Jeremy
> _______________________________________________
> ros-users mailing list
> ros-users at code.ros.org
> https://code.ros.org/mailman/listinfo/ros-users
>
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