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gazebo and stereo_image_proc

asked 2012-02-15 04:05:09 -0500

TheLegace gravatar image

I know that a tutorial is in the works, but I was just hoping that somehow maybe I could get stereo_image_proc to work with the camera.

So far I have been able to get the individual camera up and running using libgazebo_ros_camera.so and image_view seems to work all right.

So I have made left and right as per the tutorial on stereo_image_proc, but it seems to crash with this error when I run....

ROS_NAMESPACE=erratic_stereo rosrun stereo_image_proc stereo_image_proc __name:=proc _approximate_sync:=True _queue_size:=10

This program crashes with the following error:

stereo_image_proc: /tmp/buildd/ros-electric-vision-opencv-1.6.9/debian/ros-electric-vision-opencv/opt/ros/electric/stacks/vision_opencv/image_geometry/src/stereo_camera_model.cpp:28: bool image_geometry::StereoCameraModel::fromCameraInfo(const CameraInfo&, const CameraInfo&): Assertion `left_.tfFrame() == right_.tfFrame()' failed. Aborted

Now it seems like a synchronizing error.

Thanks for any help. I might give the wge100 camera from the pr2 files and see if I can get stereo_image_proc working with something in gazebo.

TheLegace.

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After some tweaking and confirming the data does indeed makes sense I can post up my urdf files if anyone wants them. I need to write an opencv program soon, but maybe if I can understand the controller well enough I can write a tutorial.

TheLegace gravatar image TheLegace  ( 2012-02-15 08:05:45 -0500 )edit

Please do post your solutions as answers. Thanks!

hsu gravatar image hsu  ( 2012-02-15 08:33:11 -0500 )edit

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answered 2012-02-15 08:03:41 -0500

TheLegace gravatar image

After tirelessly going through the pr2 code and seeing how the pr2 does stereo imaging I figured out that the frame that both camera controllers need to be in must be the same. Now that I made them the same stereo_image_proc seems to be working.

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Asked: 2012-02-15 04:05:09 -0500

Seen: 422 times

Last updated: Feb 15 '12