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Disparity in bumblebee2 [closed]

asked 2011-11-07 21:32:50 -0500

diana81 gravatar image

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 image_view image_view image:=bumblebee2/left/image_color (it works also with image_mono, image_raw and the same for the right image) but when i try to obtain the disparity image (using ROS_NAMESPACE=bumblebeeXB3 rosrun stereo_image_proc stereo_image_proc and rosrun image_view disparity_view 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/image_color/compressed/parameter_descriptions

/bumblebee2/left/image_color/compressed/parameter_updates

/bumblebee2/left/image_color/theora

/bumblebee2/left/image_color/theora/parameter_descriptions

/bumblebee2/left/image_color/theora/parameter_updates

/bumblebee2/left/image_mono

/bumblebee2/left/image_mono/compressed

/bumblebee2/left/image_mono/compressed/parameter_descriptions

/bumblebee2/left/image_mono/compressed/parameter_updates

/bumblebee2/left/image_mono/theora

/bumblebee2/left/image_mono/theora/parameter_descriptions

/bumblebee2/left/image_mono/theora/parameter_updates

/bumblebee2/left/image_raw

/bumblebee2/left/image_rect

/bumblebee2/left/image_rect/compressed

/bumblebee2/left/image_rect/compressed/parameter_descriptions

/bumblebee2/left/image_rect/compressed/parameter_updates

/bumblebee2/left/image_rect/theora

/bumblebee2/left/image_rect/theora/parameter_descriptions

/bumblebee2/left/image_rect/theora/parameter_updates

/bumblebee2/left/image_rect_color

/bumblebee2/left/image_rect_color/compressed

/bumblebee2/left/image_rect_color/compressed/parameter_descriptions

/bumblebee2/left/image_rect_color/compressed/parameter_updates

/bumblebee2/left/image_rect_color/theora

/bumblebee2/left/image_rect_color/theora/parameter_descriptions

/bumblebee2/left/image_rect_color/theora/parameter_updates

/bumblebee2/parameter_descriptions

/bumblebee2/parameter_updates

/bumblebee2/right/camera_info

/bumblebee2/right/image_color

/bumblebee2/right/image_color/compressed

/bumblebee2/right/image_color/compressed/parameter_descriptions

/bumblebee2/right/image_color/compressed/parameter_updates

/bumblebee2/right/image_color/theora

/bumblebee2/right/image_color/theora/parameter_descriptions

/bumblebee2/right/image_color/theora/parameter_updates

/bumblebee2/right/image_mono

/bumblebee2/right/image_mono/compressed

/bumblebee2/right/image_mono/compressed/parameter_descriptions

/bumblebee2/right/image_mono/compressed/parameter_updates

/bumblebee2/right/image_mono/theora

/bumblebee2/right/image_mono/theora/parameter_descriptions

/bumblebee2/right/image_mono/theora/parameter_updates

/bumblebee2/right/image_raw

/bumblebee2/right/image_rect

/bumblebee2/right/image_rect/compressed

/bumblebee2/right/image_rect/compressed/parameter_descriptions

/bumblebee2/right/image_rect/compressed/parameter_updates

/bumblebee2/right/image_rect/theora

/bumblebee2/right/image_rect/theora/parameter_descriptions

/bumblebee2/right/image_rect/theora/parameter_updates

/bumblebee2/right/image_rect_color

/bumblebee2/right/image_rect_color/compressed

/bumblebee2/right/image_rect_color/compressed/parameter_descriptions

/bumblebee2/right/image_rect_color/compressed/parameter_updates

/bumblebee2/right/image_rect_color/theora

/bumblebee2/right/image_rect_color/theora/parameter_descriptions

/bumblebee2/right/image_rect_color/theora/parameter_updates

/bumblebee2/stereo_image_proc/parameter_descriptions

/bumblebee2/stereo_image_proc/parameter_updates

/bumblebee2/stereo_image_proc_debayer_left/parameter_descriptions

/bumblebee2/stereo_image_proc_debayer_left/parameter_updates

/bumblebee2/stereo_image_proc_debayer_right/parameter_descriptions

/bumblebee2/stereo_image_proc_debayer_right/parameter_updates

/bumblebee2/stereo_image_proc_rectify_color_left/parameter_descriptions

/bumblebee2/stereo_image_proc_rectify_color_left/parameter_updates

/bumblebee2/stereo_image_proc_rectify_color_right/parameter_descriptions

/bumblebee2/stereo_image_proc_rectify_color_right/parameter_updates

/bumblebee2/stereo_image_proc_rectify_mono_left/parameter_descriptions

/bumblebee2/stereo_image_proc_rectify_mono_left/parameter_updates

/bumblebee2/stereo_image_proc_rectify_mono_right/parameter_descriptions

/bumblebee2/stereo_image_proc_rectify_mono_right/parameter_updates /rosout

/rosout_agg

when i use the debugger i obtain this:

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/raw_sub

Program received signal SIGABRT, Aborted. 0xffffe424 in __kernel_vsyscall ()

can anybody help me?

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2012-02-29 14:16:32

2 Answers

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answered 2011-11-20 22:17:38 -0500

diana81 gravatar image

updated 2011-11-20 22:28:30 -0500

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:

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<int> const&) const () from /usr/lib/libopencv_calib3d.so.2.3

2 0xb76fd221 in tbb::internal::start_for<tbb::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

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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)?
Ben_S gravatar image Ben_S  ( 2011-11-20 23:20:31 -0500 )edit
0

answered 2011-11-08 09:20:04 -0500

Patrick Mihelich gravatar image

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
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Asked: 2011-11-07 21:32:50 -0500

Seen: 639 times

Last updated: Nov 20 '11