[ros-users] Sync problem with stereo_image_proc
Kurt Konolige
konolige at willowgarage.com
Fri May 21 13:38:19 UTC 2010
Dacha, what do your camera_info messages look like? Especially, the
right image needs a nonzero stereo offset. --kk
Sent from my iPhone
On May 21, 2010, at 2:41 AM, Sacha Aury <sacha at shadowrobot.com> wrote:
> Dear Radu,
>
> Even if I understand that having some not valid disparity values is
> possible, I actually do not have any good ones. Moreover, all my
> points
> are quite the same (0.0, 0.0, nan) which is a bit strange I think.
> What
> could I do to fix this ? I already tried to change parameters with
> dynamic_reconfigure, but it did not change anything.
>
> Cheers,
> Sacha
>
> Le jeudi 20 mai 2010 à 10:45 -0700, Radu Bogdan Rusu a écrit :
>> Dear Sacha,
>>
>> What you're seeing makes sense. Though your disparity "looks good",
>> I am sure you don't have valid disparity values at
>> each pixel in the disparity image. None of us do :). What you are
>> seeing as the output of rostopic echo is the list of
>> 3D points that do not have valid disparity values (we mark those
>> with nan).
>>
>> Cheers,
>> Radu.
>>
>> On 05/20/2010 09:37 AM, Sacha Aury wrote:
>>> 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 é
>>>> crit :
>>>>
>>>>> 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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