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

[Eric Perko]

To follow up with the encoding, not sure why the "rostopic echo
/left/camera/image_raw.encoding" gave an error about it not being
published, as it is in the image data. Here is a header from one of
the messages in the previously mentioned bag file:

---
header:
  seq: 3098
  stamp: 1269564941440850973
  frame_id: /left
height: 480
width: 640
encoding: rgb8
is_bigendian: 0
step: 1920
data: <snipped cause it's just tons of binary data>

So encoding does have a value that seems correct for my setup.

Has anyone else been able to get any 1394 camera working with
image_proc using either camera1394 or an older 1394 driver?

- Eric

On Sat, Mar 27, 2010 at 8:25 PM, Eric Perko <wisesage5001 at gmail.com> wrote:
> 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
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>