thermal camera error !!

asked 2017-07-01 06:54:28 -0600

saba.k gravatar image

updated 2017-07-04 09:01:58 -0600

gvdhoorn gravatar image

Hello everyone, I added hector thermal camera to my robot but I faced error below when I choose the /thermal_camera/image_raw/compressedDepth in rqt:

[ERROR] [1498907881.375919678, 72.756000000]:Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: rgb8)

and the camera could not recognize the "hot box"!

any help would be appreciated.


Edit: Below information is the content of my thermal_camera.URDF.xacro file:

<robot xmlns:xacro="http://www.ros.org/wiki/xacro"> <xacro:include filename="$(find pioneer_description)/urdf/sensor_macros.urdf.xacro"/>

<xacro:macro name="thermal_camera" params="name parent *origin"> <joint name="${name}_joint" type="fixed"> <xacro:insert_block name="origin"/> <parent link="${parent}"/> <child link="${name}_frame"/> </joint>

<link name="${name}_frame">
</link>

<xacro:add_optical_frame name="${name}" />

<gazebo reference="${name}_frame">
  <sensor type="camera" name="thermal_camera_sensor">
    <update_rate>10</update_rate>

    <camera>
      <horizontal_fov>${90.0*M_PI/180.0}</horizontal_fov>
      <image>
        <format>R8G8B8</format>
        <width>320</width>
        <height>256</height>
      </image>
      <clip>
        <near>0.01</near>
        <far>100</far>
      </clip>
    </camera>

    <plugin name="thermal_camera_controller" filename="libgazebo_ros_thermal_camera_pink.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>10</updateRate>
      <imageTopicName>/${name}/image_raw</imageTopicName>
      <cameraInfoTopicName>/${name}/camera_info</cameraInfoTopicName>
      <frameName>${name}_optical_frame</frameName>

    </plugin>
  </sensor>
</gazebo>

</xacro:macro> </robot>

Best.

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Comments

A thermal camera is not a depth camera, and it looks like it doesn't work with compression for depth cameras. Have you tried the raw image or one of the other compression methods?

ahendrix gravatar image ahendrix  ( 2017-07-02 22:18:43 -0600 )edit

Actually when I choose image_raw, it doesn't show a proper output to visualize hot area. I don't know if it is needed to use any special package more than adding theramal camera xacro in URDF to solve this problem?

saba.k gravatar image saba.k  ( 2017-07-04 08:01:21 -0600 )edit

According to http://wiki.ros.org/hector_gazebo_the... , you need to use special models in the gazebo world that will appear "hot" in the camera.

ahendrix gravatar image ahendrix  ( 2017-07-04 12:47:26 -0600 )edit

i used hot box (in this package p3at with models) in gazebo world but the problem is it cannot recognize it as a hot object. @ahendrix

saba.k gravatar image saba.k  ( 2017-07-13 02:32:20 -0600 )edit