videre_stereo_cam with STH-DCSG-VAR-C stereo pair [closed]

edit

Hi everyone,

I have a Videre STH-DCSG-VAR-C stereo pair, which I have tested and calibrated using SVS software in Ubuntu 10.10. I am currently unable to get the videre_stereo_cam package to work with it in ROS Electric, due to a few issues. Some of them I have been able to address after a while, but I am stumped.

Here's how things progressed:

• Using the freshly installed package, I get the following error when launching the camera as a non-STOC device (which is what I guess the camera is, since STOC is not mentioned in the datasheet or manual):

[ INFO] [1340045715.020822851]: Connected camera is NOT a STOC device

terminate called after throwing an instance of 'std::logic_error'

what(): basic_string::_S_construct NULL not valid

• After debugging for a bit, I realized this was because of line 226 of videre_stereo_node.cpp. Apparently creating a std::string passing NULL to the constructor is no good. To get past this problem, I simply commented out lines 226-227.

• After recompiling I get a different error, related to the video mode. According to the manual, these cameras are able to provide 640x480 8-bit monochrome or Bayer color. However, I could only get rid of this error by hard-coding the dc1394 mode in line 263 of videre_stereo_node.cpp to DC1394_VIDEO_MODE_640x480_MONO8.

[ INFO] [1340046997.808318318]: Connecting to camera with GUID 23930887758754071 [VIDERE_DESIGN MDS-STH]

[ INFO] [1340046997.808373385]: Connected camera is NOT a STOC device

terminate called after throwing an instance of 'VidereStereoDriverException'

what(): setFormat: not a valid mode: DC1394_VIDEO_MODE_640x480_YUV422

• I'm not sure if I can still get color images from the cameras after setting the mode to DC1394_VIDEO_MODE_640x480_MONO8, but the node explicitly says it's disabled:

[ INFO] [1340047856.963961625]: Setting mode to none

[ INFO] [1340047856.964030214]: Color conversion from Bayer pattern is Disabled

• The node is able to get to the "Streaming..." message and run. However, if I listen to the topic image_raw using rostopic echo /stereo/left/image_raw, for instance, I see all messages are empty.

header:

seq: 13

stamp:

secs: 1340047966

nsecs: 895023823

frame_id: /stereo_optical_frame

height: 0

width: 0

encoding: ''

is_bigendian: 0

step: 0

data: []

Can anyone help me with this problem? Thanks in advance!