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launch stereo_image_proc and image topic names

asked 2015-08-28 06:17:40 -0600

altella gravatar image

updated 2015-08-31 08:11:03 -0600

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:


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:

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

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

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,



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 -0600

Thomas D gravatar image

updated 2015-08-31 07:55:07 -0600

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 -0600 )edit

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Asked: 2015-08-28 06:17:40 -0600

Seen: 3,361 times

Last updated: Aug 31 '15