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launch stereo_image_proc and image topic names

asked 2015-08-28 06:17:40 -0500

altella gravatar image

updated 2015-08-31 08:11:03 -0500

Hello all;

I have a bag with stereo images topics and I am trying now to create a launch for stereo_image_proc. The topics I have to perform stereo are:

/cameras_pan_tilt/left/camera_info         
/cameras_pan_tilt/left/image                    
/cameras_pan_tilt/right/camera_info        
 /cameras_pan_tilt/right/image

The namespace is obviously "cameras_pan_tilt", but the images do not have the default name "image_raw". I am trying to create a simple launch to adjust parameters, but I have the following problems:

1.- the images in image view, are not displayed.

2.- I do not for sure if the remapping is correct for stereo_image_proc to process everything.

The launch is as follows, following tutorials:

<launch>    
        <node ns="cameras_pan_tilt" pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc" output="screen">
            <remap from="left/image" to="left/image_raw"/>
            <remap from="right/image" to="right/image_raw"/>
        </node>

        <node pkg="image_view" type="stereo_view" name="stereo_view">
            <remap from="cameras_pan_tilt" to="stereo"/>
            <remap from="image_rect" to="image"/>
        </node>

        <node pkg="rqt_reconfigure" type="rqt_reconfigure" name="rqt_reconfigure"/>
</launch>

I receive also the following warnings:

[ WARN] [1440760099.284773259]: The input topic '/cameras_pan_tilt/left/image_raw' is not yet advertised
[ WARN] [1440760099.284920490]: The input topic '/cameras_pan_tilt/right/image_raw' is not yet advertised
[ WARN] [1440760159.286287583]: The input topic '/cameras_pan_tilt/left/image_raw' is not yet advertised

Could anyone please help me with this issue, to launch stereo_image_proc from a launch to reconfigure? Thank you all very much in advance,

Best regards,

Alberto

EDIT:

After changing the fields "from" and "to" in the remap fields in the launch file, that error has disappeared, but I still see no images with image view, and in addition I have new error. Any possible clue?

[ WARN] [1441003721.212940511]: [image_transport] Topics '/cameras_pan_tilt/left/image_mono' and '/cameras_pan_tilt/left/camera_info' do not appear to be synchronized. In the last 10s:
    Image messages received:      15
    CameraInfo messages received: 50
    Synchronized pairs:           0
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answered 2015-08-28 09:14:26 -0500

Thomas D gravatar image

updated 2015-08-31 07:55:07 -0500

Try swapping your remaps in stereo_image_proc so that they read:

<remap from="left/image_raw" to="left/image"/>
<remap from="right/image_raw" to="right/image"/>

When you remap topics for a node you are remapping from what is _expected_ by the node to what you are _providing_. The stereo_image_proc node _expects_ to receive image_raw, but you are _providing_ image. That should get rid of the warnings that are printed by stereo_image_proc about input topics not being advertised yet.

Once stereo_image_proc has the correct input topics then it will start to publish rectified images, a disparity image, and a point cloud. You will need to swap the first remap in image_view/stereo_view as well. That should also fix your issue with image_view/stereo_view.

EDIT (for new question): Take a look at the stereo_image_proc parameters. The stereo_image_proc node assumes all input messages are exactly synchronized with respect to the timestamps in their headers. Inside the node tags add:

<param name="approximate_sync" value="true"/>
<param name="queue_size" value="10"/>

This will help if you do not have hardware triggering/syncing of your image_raw and camera_info topics.

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Perfect !!! That was it !! Really, thanks a lot !

altella gravatar image altella  ( 2015-08-31 08:15:06 -0500 )edit

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Asked: 2015-08-28 06:17:40 -0500

Seen: 2,663 times

Last updated: Aug 31 '15