[ros-users] Videre STOC Problem

Sat Feb 12 19:18:24 UTC 2011

And reading the second part of your email more carefully, I see that
you already tried running in non-STOC mode :) Left and right shouldn't
be the same image, there's a slight offset that you should be able to
see if you put both images side by side. Try running stereo_image_proc
on those and see if you get proper point cloud.

Anton

On Sat, Feb 12, 2011 at 11:59 AM, Patrick Goebel <patrick at pirobot.org> wrote:
> Great suggestion!  I can fire up videre_stereo_cam/launch/videre.launch
> without error (full startup messages listed below).  However (and
> perhaps this is related to the problems with smallv and coriander), I
> can only see the left image.  So running
>
> $ rosrun image_view ime_view image:=stereo/left/image_raw
>
> gives me an image but
>
> $ rosrun image_view ime_view image:=stereo/right/image_raw
>
> gives me a blank window.  I get both left and right images in Windows
> when running smallv.
>
> Running rostopic list gives:
>
> /diagnostics
> /rosout
> /rosout_agg
> /stereo/disparity
> /stereo/left/camera_info
> /stereo/left/image_color
> /stereo/left/image_color/compressed
> /stereo/left/image_color/theora
> /stereo/left/image_mono
> /stereo/left/image_mono/compressed
> /stereo/left/image_mono/theora
> /stereo/left/image_raw
> /stereo/left/image_raw/compressed
> /stereo/left/image_raw/theora
> /stereo/left/image_rect
> /stereo/left/image_rect/compressed
> /stereo/left/image_rect/theora
> /stereo/left/image_rect_color
> /stereo/left/image_rect_color/compressed
> /stereo/left/image_rect_color/theora
> /stereo/points
> /stereo/points2
> /stereo/videre_stereo_cam/parameter_descriptions
> /stereo/videre_stereo_cam/parameter_updates
>
> confirming only the left image is being published.
>
> So then I tried videre_non_stoc.launch and this time rostopic list shows:
>
> /diagnostics
> /rosout
> /rosout_agg
> /stereo/left/camera_info
> /stereo/left/image_raw
> /stereo/left/image_raw/compressed
> /stereo/left/image_raw/theora
> /stereo/right/camera_info
> /stereo/right/image_raw
> /stereo/right/image_raw/compressed
> /stereo/right/image_raw/theora
> /stereo/videre_stereo_cam/parameter_descriptions
> /stereo/videre_stereo_cam/parameter_updates
>
> And I get images for both left and right in image_view thought I'm not
> sure they aren't just the same image(?).
>
> --patrick
>
> P.S. Here are the startup messages when running videre.launch:
>
> started roslaunch server http://pi-ubuntu:33721/
>
> SUMMARY
> ========
>
> PARAMETERS
>  * /stereo/videre_stereo_cam/frame_id
>  * /stereo/videre_stereo_cam/fps
>  * /stereo/videre_stereo_cam/exposure_auto
>  * /stereo/videre_stereo_cam/videre_mode
>  * /stereo/videre_stereo_cam/gain_auto
>  * /stereo/videre_stereo_cam/brightness_auto
>  * /stereo/videre_stereo_cam/convert_to_color
>
> NODES
>   /stereo/
>     videre_stereo_cam (videre_stereo_cam/videre_stereo_node)
>
> ROS_MASTER_URI=http://pi-ubuntu:11311/
>
> core service [/rosout] found
> process[videre_stereo_cam-1]: started with pid [2693]
> [ INFO] [1297535349.547920863]: Resetting bus
> [ INFO] [1297535349.550777061]: Initializing camera, turning off ISO
> [ INFO] [1297535349.620761024]: [dcam] Videre camera, getting local params
> [ INFO] [1297535349.621693078]: [dcam] Camera firmware: 07.01
> [ INFO] [1297535349.622254601]: [dcam] Imager firmware: 0008
> [ INFO] [1297535349.622468767]: [Dcam] Found stereo device
> [ INFO] [1297535349.623208715]: [dcam] STOC version: 04.02
> [ INFO] [1297535349.624290434]: [dcam] STOC thresholds: 00010c0a
> [ INFO] [1297535349.925963168]: [dcam] Calibration, 1975 bytes
> [ INFO] [1297535349.928050938]: [dcam] Color device
> [ INFO] [1297535349.928625025]: [dcam] Feature register hi: d2800000
> [ INFO] [1297535349.929191015]: [dcam] Feature register lo: 00000000
> [ INFO] [1297535349.933219402]: [Dcam] Exposure min/max: [0,529]
> [ INFO] [1297535349.939681518]: [Dcam] Gain min/max: [0,48]
> [ INFO] [1297535349.944065080]: [Dcam] Brightness min/max: [0,255]
> [ INFO] [1297535349.946369249]: [Dcam] Whitebalance min/max: [0,30]
>
>
> [extractParams] Parameters:
>
> [dcam] SVS-type parameters
> [dcam] Disparity resolution: 1/16 pixel
> [dcam] Correlation window: 15
> [dcam] Prefilter window: 9
> [dcam] Number of disparities: 64
> [dcam] left camera matrix (K)
>  508.5466 0.0000 316.0090
>  0.0000 510.9624 240.5289
>  0.0000 0.0000 1.0000
>
> [dcam] left distortion vector (D)
>  -0.4300 0.2907 0.0000 0.0000 -0.1297
>
> [dcam] left rectification matrix (R)
>  0.9999 0.0019 -0.0109
>  -0.0020 1.0000 -0.0031
>  0.0109 0.0031 0.9999
>
> [dcam] left projection matrix (P)
>  515.0000 0.0000 321.6060 0.0000
>  0.0000 515.0000 227.1362 0.0000
>  0.0000 0.0000 1.0000 0.0000
>
> [dcam] right camera matrix (K)
>  511.9488 0.0000 298.7494
>  0.0000 514.7863 216.4977
>  0.0000 0.0000 1.0000
>
> [dcam] right distortion vector (D)
>  -0.4172 0.2647 0.0000 0.0000 -0.1200
>
> [dcam] right rectification matrix (R)
>  1.0000 0.0005 -0.0081
>  -0.0005 1.0000 0.0031
>  0.0081 -0.0031 1.0000
>
> [dcam] right projection matrix (P)
>  515.0000 0.0000 321.6060 -31.2624
>  0.0000 515.0000 227.1362 0.0000
>  0.0000 0.0000 1.0000 0.0000
>
> [dcam] Has rectification
>
>
> [dcam] External translation vector
>  -0.0607 -0.0000 0.0005
>
> [dcam] External rotation vector
>  0.0062 -0.0028 -0.0015
>
> [ INFO] [1297535350.228984827]: Connecting to camera with GUID
> 23930887758951554 [VIDERE_DESIGN MDS-STH]
> [ INFO] [1297535350.229400314]: Connected camera is a STOC device
> [ INFO] [1297535350.547844460]: Camera reconfigure request received,
> level 0xffffffff
> [ INFO] [1297535350.549813279]: Setting mode to disparity_raw
> [ INFO] [1297535350.549879176]: Color conversion from Bayer pattern is
> Enabled
> [ INFO] [1297535354.483589444]: Stereo camera's frame ID is
> /stereo_optical_frame
> [ INFO] [1297535354.483729336]: Setting Exposure to Auto setting
> [ INFO] [1297535354.483775129]: Setting Gain to Auto setting
> [ INFO] [1297535354.483817571]: Setting Brightness to Auto setting
> [ INFO] [1297535354.483859176]: Setting Whitebalance to Auto setting
> [ INFO] [1297535354.483900501]: Companding mode is Enabled
> [ INFO] [1297535354.483941547]: High Dynamic Range mode is Disabled
> [ INFO] [1297535354.634338543]: STOC: uniqueness threshold is set to 36
> [ INFO] [1297535354.634449116]: STOC: texture threshold is set to 30
> [ INFO] [1297535354.634493234]: STOC: speckle size is set to 100
> [ INFO] [1297535354.634535118]: STOC: speckle range is set to 10
> [ INFO] [1297535354.634576722]: STOC: horopter is set to 0
> [ INFO] [1297535354.634618327]: -------------------------------------------
> [ INFO] [1297535354.986294204]: Streaming...
>
>
>
> On 02/12/2011 10:20 AM, Antons Rebguns wrote:
>> Patrick,
>>
>> You could also try running the ROS driver videre_stereo_cam in
>> ua-ros-pkg. Just run roslaunch videre_stereo_cam videre.launch to run
>> the camera in stoc mode. I am not sure it's going to work since
>> neither coriander nor svs works, but you can give it a shot.
>>
>> Anton
>>
>> On Sat, Feb 12, 2011 at 11:03 AM, Patrick Goebel<patrick at pirobot.org>  wrote:
>>> It occurred to me that I have an old digital video camera that uses
>>> Firewire.  So I installed kino, plugged in the camera to the same
>>> Firewire port I've been using with the STOC camera and presto, I am able
>>> to control the camera and capture some video.
>>>
>>> So I'm wondering if my problem is not having the Videre driver installed
>>> correctly.  In fact, I'm not even sure what installing the driver might
>>> mean beyond what I did in the beginning which was:  I unpacked the
>>> original SVS tgz file into /home/patrick/bin/svs.  Then:
>>>
>>> $ export LD_LIBRARY_PATH=/home/patrick/bin/svs/bin:$LD_LIBRARY_PATH
>>> $ cd /usr/lib
>>> $ sudo ln -s libraw1394.so.11.0.1 libraw1394.so.8
>>> $ sudo ldconfig
>>>
>>> Is there something else I need to do to make sure the STOC driver is
>>> being accessed?
>>>
>>> --patrick
>>>
>>>
>>>
>>> On 02/12/2011 09:10 AM, Patrick Goebel wrote:
>>>> Many thanks Anton and Jack!  Changing the permissions and group (video)
>>>> on /dev/raw1394 got me a little further but there is still a problem.
>>>> Coriander now comes up and shows "VIDERE_DESIGN MDS-STH" under the
>>>> Camera Select menu but the window is completely unresponsive--clicking
>>>> on tabs and buttons has no effect.  Typing Ctrl-C in the launching
>>>> terminal kills the coriander window but does not return the command
>>>> prompt and coriander is listed as a defunct process.  Also, trying to
>>>> run smallv simply hangs after issuing the command--no window ever
>>>> appears and neither Ctrl-C nor 'pkill -9 smallv' in another terminal can
>>>> kill it...
>>>>
>>>> Just to summarize:
>>>>
>>>> ls -l /dev/raw1394
>>>> crwxrwxrwx 1 root video 171, 0 2011-02-12 08:57 /dev/raw1394
>>>>
>>>> uid=1000(patrick) gid=1000(patrick)
>>>> groups=4(adm),6(disk),20(dialout),24(cdrom),44(video),46(plugdev),104(lpadmin),115(admin),120(sambashare),1000(patrick)
>>>>
>>>> ls -l /dev/video1394/
>>>> total 0
>>>> crwxrwxrwx+ 1 root video 171, 16 2011-02-12 08:57 0
>>>> crwxrwxrwx+ 1 root video 171, 17 2011-02-12 08:57 1
>>>>
>>>> Any other thoughts?
>>>>
>>>> --patrick
>>>>
>>>>
>>>> On 02/12/2011 08:46 AM, Antons Rebguns wrote:
>>>>> What I always have to do is set RW permissions on /dev/raw1394, I
>>>>> never had to touch /dev/video1394. After that everything usually works
>>>>> just fine.
>>>>>
>>>>> Anton
>>>>>
>>>>> On Sat, Feb 12, 2011 at 9:39 AM, Jack O'Quin<jack.oquin at gmail.com>     wrote:
>>>>>> On Sat, Feb 12, 2011 at 10:18 AM, Patrick Goebel<patrick at pirobot.org>     wrote:
>>>>>>
>>>>>>> I made sure I am a member of both the disk and video groups and I did a
>>>>>>> chmod 777 on dev/video1394/* so that ls -l dev/video1394/* gives:
>>>>>>>
>>>>>>> crwxrwxrwx+ 1 root video 171, 16 2011-02-12 07:59 0
>>>>>>> crwxrwxrwx+ 1 root video 171, 17 2011-02-12 07:59
>>>>>>
>>>>>> You probably need to do something similar for /dev/raw1394:
>>>>>>
>>>>>>     http://www.ros.org/wiki/camera1394/Troubleshooting#No_Bus_Access_Permissions
>>>>>> --
>>>>>>     joq
>>>>>> _______________________________________________
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>>>>>>
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