[ros-users] Digital Camera 1394 in ROS?

[Jack O'Quin]

On Wed, Mar 10, 2010 at 6:37 PM, Patrick Beeson <beeson.p at gmail.com> wrote:
>
>
> On 3/10/2010 6:17 PM, Jack O'Quin wrote:
>>
>> On Wed, Mar 10, 2010 at 11:36 AM, Blaise Gassend
>>
>>> set_camera_info shouldn't affect rviz's ability to view the image. It is
>>> only used to calibrate the camera. One thing that might prevent rviz
>>> from viewing the image is if the image is encoded using an unsupported
>>> color encoding. Have you tried doing a:
>>>
>>> rostopic echo image_topic/encoding
>>>
>>> That would show you how the colors are encoded.
>>
>> I'm looking at it right now (using Patrick's driver).  It's publishing
>> "rgb8". It also does not currently provide CameraInfo.
>>
>> The rviz doc seems to say it needs CameraInfo, but does not mention
>> which color encodings it supports.
>>
>> Where can I find that list?
>>
>> Thanks,
>
> A few quick things
>
> 1) I can use it with rviz.  Jack, I'll shoot you an email tomorrow with the
> rviz config that I use.  Remind me if I forget.

Thanks, I will.

Michael and I plan to work on the car tomorrow with the new cameras
Juan mounted.

> 2) My driver started as a port from Player, but I've replaced and added a
> lot of functionality (e.g. Bayer filtering) with built-in libdc1394
> functions.

I didn't realize that was missing from the Player driver.

> 3) Jack, once you get into this, I might bend your ear to help me do the
> same for a unified Swissranger 3000/4000 driver.  I have a version that I
> expanded from Rasu's 3K driver that adds new functionality for 4K devices.
> I also have a color camera/pointcloud registration node )with calibration
> utility) that would probably go in this stack (but could be used for stereo
> cameras).  I haven't looked around recently to see if others exist, but I
> don't remember seeing anything that worked in ros >=0.9 several months back.

I'm happy to help with packaging, etc., but I don't have access to
those devices right now.
-- 
 joq