[ros-users] Videre STOC Problem

Sun Feb 13 01:11:06 UTC 2011

Hi Anton,

I'm using the latest revision 1188 and you are right again (of course!): 
the default image topic for disparity_view is just "image" (under 
/stereo/left) but I need image_mono or image_color.  So the following 
works for the color image (for example):

$ rosrun videre_stereo_cam disparity_view stereo:=stereo image:=image_color

And yes again, CPU load is actually 75% for stereo_image_proc + 
videre_stereo_node when I run disparity_view at the same time (thereby 
subscribing to /stereo/disparity.)  (RViz pegs everything at 100% 
because I don't have a custom driver for the video card in this machine.)

--patrick

On 02/12/2011 04:02 PM, Antons Rebguns wrote:
> 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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