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 imageahendrix ( 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 imagesaba.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 imageahendrix ( 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 imagesaba.k ( 2017-07-13 02:32:20 -0600 )edit