[ros-users] Videre STOC Problem
Patrick Goebel
patrick at pirobot.org
Sat Feb 12 18:59:59 UTC 2011
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
>>>>> _______________________________________________
>>>>> ros-users mailing list
>>>>> ros-users at code.ros.org
>>>>> https://code.ros.org/mailman/listinfo/ros-users
>>>>>
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