[ros-users] Sync problem with stereo_image_proc
Sacha Aury
sacha at shadowrobot.com
Thu May 20 16:37:20 UTC 2010
I do not really understand why, but I looked to the TF tutorial, added a
few things to my program and rviz do not complain anymore. To recap, I
now have a disparity map, rviz do not complain about a fixed_frame, but
my goal is to get the points cloud. Rviz warns :
[ WARN] 1274372115.122808000: TF_OLD_DATA ignoring data from the past
for frame /test at time 16566 according to authority /camera_sync
Possible reasons are listed at
$rostopic echo /stereo/points | less :
header:
seq: 937
stamp: 18596000000000
frame_id: fixed_frame
points: [
x: 0.0
y: 0.0
z: nan,
x: 0.0
y: 0.0
z: nan,
x: 0.0
y: 0.0
z: nan,
x: 0.0
y: 0.0
z: nan,
x: 0.0
y: 0.0
z: nan,
x: 0.0
I don't get it, since my disparity map looks good. I can send you a
screenshot of the map if you need it.
So, why is the processing not sending the good coords ? I did not
calibrate my cameras since I did not find a way to do it for stereo
vision, is there a problem with that ?
Thanks.
Le mercredi 19 mai 2010 à 10:38 -0700, Josh Faust a écrit :
> If you don't have a TF transform tree (http://ros.org/wiki/tf), the
> fixed frame needs to match the frame you've set. You also need to set
> the timestamp in the header.
>
> msg.header.stamp = ros::Time::now();
>
> Josh
>
> On Wed, May 19, 2010 at 7:53 AM, Sacha Aury <sacha at shadowrobot.com>
> wrote:
> Thanks for your help. I now have a single node synchronizing
> my two
> cameras (image and infos). It works with the stereo_view and I
> get the
> disparity map, which I am configuring. My question is now
> about rviz,
> which I've never used. It seems to need a fixed frame to
> display my 3D
> cloud points. I tried to set a frame_id in my synchronization
> node
> (before broadcasting it to stereo_image_proc), but it does not
> work,
> rviz still can't get any fixed frame.
>
> How can I do that ? I think I am close to the result, but I
> can't see
> it !
>
> Le mardi 18 mai 2010 à 09:07 -0700, Blaise Gassend a écrit :
>
> > Hi Sacha,
> >
> > stereo_image_proc doesn't care about when your message was
> published, it
> > just cares about the timestamp in the message. So your
> republishing node
> > needs to set the timestamp, both in the image topic and in
> the
> > camera_info topic.
> >
> > Blaise
> >
> > On Tue, 2010-05-18 at 16:29 +0100, Sacha Aury wrote:
> > > I think that having a hardware solution is a bit overkill
> for my
> > > problem. So I tried to write a node which collected image
> messages from
> > > my two cameras and which published both message every x
> seconds,
> > > typically 1/2. And when I am using
> image_pipeline/stereo_image_proc, I
> > > got messages of that kind :
> > >
> > > [ WARN] 1274196325.866264000: [stereo_image_proc] Low
> number of
> > > synchronized left/right image pairs received.
> > > Left images received: 831
> > > Right images received: 831
> > > Synchronized pairs: 0
> > > Possible issues:
> > > * The cameras are not synchronized.
> > > * The network is too slow. For each synchronized image
> pair, at most 1
> > > is getting through.
> > >
> > > I don't know what I could do more, since the
> synchronisation should be
> > > done by a TimeSynchronizer in the stereo_image_proc class.
> Could it be
> > > posible to cheat on the timestamps in any way ?
> > >
> > > Thanks, and sorry for the double post, I made a mistake at
> first.
> > >
> > > Le lundi 17 mai 2010 à 07:53 -0700, Gary Bradski a écrit :
> > > > What level do you want synchronization on? Within
> framerate (both
> > > > frames happen randomly but within 1/30 of a second of
> each other) or
> > > > exact frame synchronization? The first is achievable,
> the second needs
> > > > extra hardware.
> > > >
> > > > At most, ROS can get you timestamps to align to, but to
> get actual
> > > > simultaneous frames, you'll need a triggering signal in
> hardware such
> > > > as a wire between 2 cameras (that allow for this). Some
> 1394 cameras
> > > > may allow triggering over the 1394 bus and then you'll
> only have the
> > > > problem of getting both buses to trigger at the same
> time ... which
> > > > may be approximately possible, most of the time ... on
> average.
> > > > Depends on the driver and the 1394 port.
> > > >
> > > > I've seen an automotive 1394 article (not ROS related)
> where they have
> > > > about 10 cameras. The cameras run the cameras at very
> high framerates
> > > > and then they do timestamp synchronization which allows
> fairly
> > > > synchronous alignment of multiple with no extra
> hardware.
> > > >
> > > > Gary
> > > >
> > > > On Mon, May 17, 2010 at 5:23 AM, Sacha Aury
> <sacha at shadowrobot.com>
> > > > wrote:
> > > > Hi,
> > > >
> > > > I am trying to make a stereo camera acquisition
> using ROS with
> > > > the
> > > > cameradc1394 driver and the stereo_proc package.
> I've got a
> > > > separate
> > > > computer to stream the image_raw from my two
> cameras. The
> > > > stream works,
> > > > but when I launch stereo_image_proc, it seems
> that my two
> > > > cameras are
> > > > not synchronized :
> > > >
> > > > [ WARN] 1274098675.074074000:
> [stereo_image_proc] Low number
> > > > of
> > > > synchronized left/right image pairs received.
> > > > Left images received: 3079
> > > > Right images received: 3076
> > > > Synchronized pairs: 0
> > > > Possible issues:
> > > > * The cameras are not synchronized.
> > > > * The network is too slow. For each
> synchronized image
> > > > pair, at most 1
> > > > is getting through.
> > > >
> > > > Here is my launch file :
> > > >
> > > > <!-- startstream.launch -->
> > > > <launch>
> > > > <param name="display" type="int"
> value="0"/>
> > > > <param name="framerate" type="double"
> value="15"/>
> > > > <param name="mode"
> value="MODE_320x240_YUV422"/>
> > > >
> > > > <node name="camera_left" pkg="cameradc1394"
> > > > type="cameradc1394"
> > > > respawn="true">
> > > > <param name="prefix" type="string"
> > > > value="/stereo/left/"/>
> > > > <param name="cameraindex" type="int"
> value="0"/>
> > > > </node>
> > > >
> > > >
> > > > <node name="camera_right" pkg="cameradc1394"
> > > > type="cameradc1394"
> > > > respawn="true">
> > > > <param name="prefix" type="string"
> > > > value="/stereo/right/"/>
> > > > <param name="cameraindex" type="int"
> value="1"/>
> > > > </node>
> > > >
> > > > </launch>
> > > >
> > > > Is there any specific way to make the two
> cameras
> > > > synchronize ?
> > > >
> > > > I am following that tutorial :
> > > >
> > > > http://www.ros.org/wiki/stereo_image_proc
> > > >
> > > > Thank you for any help.
> > > >
> > > > Sacha
> > > >
> > > >
> > > > _______________________________________________
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