Disparity in bumblebee2
Hi, i am using the package bumblebee2 (ROS electric in debian with kernel 2.6.32), i am able to see the right and left image using rosrun imageview imageview image:=bumblebee2/left/imagecolor (it works also with imagemono, imageraw and the same for the right image) but when i try to obtain the disparity image (using ROSNAMESPACE=bumblebeeXB3 rosrun stereoimageproc stereoimageproc and rosrun imageview disparityview image:=bumblebee2/disparity ) i obtain the error "Illegal instruction".
In the rostopic list i have:
/bumblebee2/disparity
/bumblebee2/left/camera_info
/bumblebee2/left/image_color
/bumblebee2/left/image_color/compressed
/bumblebee2/left/imagecolor/compressed/parameterdescriptions
/bumblebee2/left/imagecolor/compressed/parameterupdates
/bumblebee2/left/image_color/theora
/bumblebee2/left/imagecolor/theora/parameterdescriptions
/bumblebee2/left/imagecolor/theora/parameterupdates
/bumblebee2/left/image_mono
/bumblebee2/left/image_mono/compressed
/bumblebee2/left/imagemono/compressed/parameterdescriptions
/bumblebee2/left/imagemono/compressed/parameterupdates
/bumblebee2/left/image_mono/theora
/bumblebee2/left/imagemono/theora/parameterdescriptions
/bumblebee2/left/imagemono/theora/parameterupdates
/bumblebee2/left/image_raw
/bumblebee2/left/image_rect
/bumblebee2/left/image_rect/compressed
/bumblebee2/left/imagerect/compressed/parameterdescriptions
/bumblebee2/left/imagerect/compressed/parameterupdates
/bumblebee2/left/image_rect/theora
/bumblebee2/left/imagerect/theora/parameterdescriptions
/bumblebee2/left/imagerect/theora/parameterupdates
/bumblebee2/left/imagerectcolor
/bumblebee2/left/imagerectcolor/compressed
/bumblebee2/left/imagerectcolor/compressed/parameter_descriptions
/bumblebee2/left/imagerectcolor/compressed/parameter_updates
/bumblebee2/left/imagerectcolor/theora
/bumblebee2/left/imagerectcolor/theora/parameter_descriptions
/bumblebee2/left/imagerectcolor/theora/parameter_updates
/bumblebee2/parameter_descriptions
/bumblebee2/parameter_updates
/bumblebee2/right/camera_info
/bumblebee2/right/image_color
/bumblebee2/right/image_color/compressed
/bumblebee2/right/imagecolor/compressed/parameterdescriptions
/bumblebee2/right/imagecolor/compressed/parameterupdates
/bumblebee2/right/image_color/theora
/bumblebee2/right/imagecolor/theora/parameterdescriptions
/bumblebee2/right/imagecolor/theora/parameterupdates
/bumblebee2/right/image_mono
/bumblebee2/right/image_mono/compressed
/bumblebee2/right/imagemono/compressed/parameterdescriptions
/bumblebee2/right/imagemono/compressed/parameterupdates
/bumblebee2/right/image_mono/theora
/bumblebee2/right/imagemono/theora/parameterdescriptions
/bumblebee2/right/imagemono/theora/parameterupdates
/bumblebee2/right/image_raw
/bumblebee2/right/image_rect
/bumblebee2/right/image_rect/compressed
/bumblebee2/right/imagerect/compressed/parameterdescriptions
/bumblebee2/right/imagerect/compressed/parameterupdates
/bumblebee2/right/image_rect/theora
/bumblebee2/right/imagerect/theora/parameterdescriptions
/bumblebee2/right/imagerect/theora/parameterupdates
/bumblebee2/right/imagerectcolor
/bumblebee2/right/imagerectcolor/compressed
/bumblebee2/right/imagerectcolor/compressed/parameter_descriptions
/bumblebee2/right/imagerectcolor/compressed/parameter_updates
/bumblebee2/right/imagerectcolor/theora
/bumblebee2/right/imagerectcolor/theora/parameter_descriptions
/bumblebee2/right/imagerectcolor/theora/parameter_updates
/bumblebee2/stereoimageproc/parameter_descriptions
/bumblebee2/stereoimageproc/parameter_updates
/bumblebee2/stereoimageprocdebayerleft/parameter_descriptions
/bumblebee2/stereoimageprocdebayerleft/parameter_updates
/bumblebee2/stereoimageprocdebayerright/parameter_descriptions
/bumblebee2/stereoimageprocdebayerright/parameter_updates
/bumblebee2/stereoimageprocrectifycolorleft/parameterdescriptions
/bumblebee2/stereoimageprocrectifycolorleft/parameterupdates
/bumblebee2/stereoimageprocrectifycolorright/parameterdescriptions
/bumblebee2/stereoimageprocrectifycolorright/parameterupdates
/bumblebee2/stereoimageprocrectifymonoleft/parameterdescriptions
/bumblebee2/stereoimageprocrectifymonoleft/parameterupdates
/bumblebee2/stereoimageprocrectifymonoright/parameterdescriptions
/bumblebee2/stereoimageprocrectifymonoright/parameterupdates /rosout
/rosout_agg
when i use the debugger i obtain this:
Terminate called after throwing an instance of 'imagetransport::TransportLoadException' what(): Unable to load plugin for transport 'disparity', error string: According to the loaded plugin descriptions the class imagetransport/disparitysub with base class type imagetransport::SubscriberPlugin does not exist. Declared types are imagetransport/rawsub
Program received signal SIGABRT, Aborted. 0xffffe424 in _kernelvsyscall ()
can anybody help me?
Asked by diana81 on 2011-11-07 22:32:50 UTC
Answers
Can you copy/paste directly from your terminal the command you're using and the error output?
disparity_view does not use image_transport, so I have no explanation for the error as described. Is it possible that you're instead running something like
rosrun image_view image_view disparity image:=bumblebee2/disparity
That would attempt to run image_view (which does use image_transport) using the transport named disparity (the first positional argument), which does not exist. Thus:
$ rosrun image_view image_view disparity image:=bumblebee2/disparity
terminate called after throwing an instance of 'image_transport::TransportLoadException'
what(): Unable to load plugin for transport 'disparity', error string:
According to the loaded plugin descriptions the class image_transport/disparity_sub with base class type image_transport::SubscriberPlugin does not exist. Declared types are image_transport/compressed_sub image_transport/raw_sub image_transport/theora_sub
Asked by Patrick Mihelich on 2011-11-08 10:20:04 UTC
Comments
Hi I am still working on obtain my disparity image but still have problems, It seems that the problem is that the left/image_mono and the left/camera_info are not synchronized (the same for the right camera) I have increased the queue_size and set approximate_sync to true but i dont obtain better results. The command I use is rosrun image_view disparity_view image:=bumblebee2/disparity but I just obtain a gray window and this warning:
[ WARN] [1321874330.090098114]: [image_transport]
Topics '/bumblebee2/left/image_mono' and '/bumblebee2/left/camera_info' do not appear to be synchronized. In the last 10s:
Image messages received: 5
CameraInfo messages received: 21
Synchronized pairs: 5
The debbuger shows this message.
Program received signal SIGILL, Illegal instruction. [Switching to Thread 0xad52bb70 (LWP 16627)] 0xb76f4228 in ?? () from /usr/lib/libopencv_calib3d.so.2.3.
(gdb) where
0 0xb76f4228 in ?? () from /usr/lib/libopencv_calib3d.so.2.3
1 0xb76fa274 in cv::FindStereoCorrespInvoker::operator()(tbb::blocked_range
2 0xb76fd221 in tbb::internal::start_fortbb::blocked_range<int, cv::FindStereoCorrespInvoker, tbb::auto_partitioner>::execute() () from /usr/lib/libopencv_calib3d.so.2.3
3 0xb6c4b097 in ?? () from /usr/lib/libtbb.so.2
4 0xb6c47e01 in ?? () from /usr/lib/libtbb.so.2
5 0xb6c47635 in ?? () from /usr/lib/libtbb.so.2
6 0xb6c45a37 in ?? () from /usr/lib/libtbb.so.2
7 0xb6c45c05 in ?? () from /usr/lib/libtbb.so.2
8 0xb6e02955 in start_thread (arg=0xad52bb70) at pthread_create.c:300
9 0xb6d82e7e in clone () at ../sysdeps/unix/sysv/linux/i386/clone.S:130
Any advice?
Thanks very much
Asked by diana81 on 2011-11-20 23:17:38 UTC
Comments
About a week ago the compile flags for opencv where adjusted, did you update since then (if you are using the binaries at all)?
Asked by Ben_S on 2011-11-21 00:20:31 UTC
Comments