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No rectified image output

Hello,

I am trying to generate a pointcloud from the depth camera of the robot pepper in conjunction with naoqidriver, but I seem to get no output from the rectified image. When calling rostopic list I see both topics, /naoqidrivernode/camera/depth/imageraw and /naoqidrivernode/camera/depth/imagerect but when using rostopic hz, only imageraw has an actual output, and I can't figure out why. This is the code with which I'm trying to rectify the raw image data;

<node 
pkg="image_proc"
type="image_proc"
name="image_proc"
ns="/naoqi_driver_node/camera/depth" />

Does anyone have an idea what I could be doing wrong? I'll happily provide further information if needed, I'm just not sure what else could affect this problem right now.

Thanks for any help in advance.

Asked by frescho on 2018-10-05 11:54:59 UTC

Comments

The image_proc node subscribes to both image_raw and camera_info. Are you seeing camera_info messages in the namespace you specified? If not, then the image_proc node will not publish any messages.

Asked by Thomas D on 2018-10-05 17:22:45 UTC

Yes, camera_info is putting out data, that's how I realised there was no output for image_rect, as the error mentioned they weren't in sync because there was no output, but I will doublecheck to confirm this first chance I get back in the lab on monday

Asked by frescho on 2018-10-06 03:44:27 UTC

I can now confirm that camera_info is publishing correctly, as is image_raw. But image_proc doesn't seem to be doing anything with image_raw.

Does anyone have an idea what could be wrong, or what I could be missing? I appreciate any help

Asked by frescho on 2018-10-09 05:02:42 UTC

Answers

[UPDATE] I have found and fixed the issue: the rectify nodelet subscribed to image_mono instead of image_raw; everything is working perfectly now

Asked by frescho on 2018-10-09 06:30:00 UTC

Comments

Glad it's working.

Asked by Thomas D on 2018-10-09 08:22:17 UTC