[ros-users] Videre STOC Problem

Antons Rebguns anton at email.arizona.edu
Sun Feb 13 00:02:55 UTC 2011


Patrick,

> Success!  Thank you Anton--everything you said was bang on.  So now I
> can see the disparity map with stereo_view and the point cloud in RViz.

Great! Glad to hear the camera works for you.

>  Finally I can add a data point to Chris' original problem which is
> that I don't have the same problem--my raw images are fine with nothing
> weird in the lower third of the image.  However, I can also confirm
> Chris' observation that the videre_stereo_cam disparity_view node shows
> only blank windows for both the left and disparity images.  It makes no
> difference if I run the STOC or non-STOC launch files (with
> stereo_image_proc running alongside the non-STOC case).

What revision are you using, I thought I fixed that in r1187? Did you
remap the image to the actual image coming from the camera? It prints
topics it is subscribing to, make sure these are correct.

> BTW, I was surprised to see that running the STOC launch file
> (videre.launch) brought the CPU up to 31% whereas running the non-STOC
> launch file along with stereo_image_proc gave a total of only 10% CPU
> load for the pair of processes combined.  Shouldn't I expect less load
> for the STOC situation since the stereo processing is being done on the
> camera?  I'm running all of this on a 7-year-old HP Pavilion with a
> single-core AMD processor.

Hmm, I highly doubt that the camera driver + stereo_image_proc takes
only 10% on a single core machine. stereo_image_proc doesn't do any
processing unless there are subscribes to the data it produces, e.g.
if you subscribe to point cloud topic, I would expect the load to be
much higher than 10%. I remember from my testing when I was writing
the driver, the STOC mode did use less CPU overall. Could you verify
that you are subscribing to the point cloud?

Thanks,
Anton

>
> On 02/12/2011 11:18 AM, Antons Rebguns wrote:
>> 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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