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Bumblebee2 output left/right images corrupted

asked 2013-02-18 03:01:32 -0600

pmarinplaza gravatar image

Ubuntu 12.04 Ros: fuerte Pkg: camera1394, bumblebee2 (partial code) migration to fuerte

Fotmat bumblebee2: format7_mode3 (1024x768)

It seems the 2 outputs images publish well but:

As mentioned http://answers.ros.org/question/40690/bumblebee1394-corrupted-output-data/ (here:)

My left and right images are corrupted. It seems the output array have hollows (no information) and I see void points in the images.

Any ideas?

Thanks.

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answered 2013-02-18 10:50:52 -0600

Stephan gravatar image

You could try using the camera1394stereo driver. It is basically the camera1394 driver adopted for stereo cameras. We have been using it for our bumblebee2 cameras for a while now. We stream the images in raw bayer format from the cameras to not saturate the firewire bus too much and let image_proc do the color conversion and rectification.

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1

I did not know about this driver. Thanks for posting. I'll mention it on http://ros.org/wiki/camera_drivers

joq gravatar imagejoq ( 2013-02-18 11:47:51 -0600 )edit

Thanks but I used it and get the same corrupted outputs as my program.

pmarinplaza gravatar imagepmarinplaza ( 2013-02-21 05:31:04 -0600 )edit
2

Then I would try the original pointgrey software to check your camera. We use this driver for four bumblebee2 cameras and it works fine. Maybe your cam is broken?

Stephan gravatar imageStephan ( 2013-02-21 07:44:09 -0600 )edit

Ok I use the pointgrey software (triclops and pnmutils) and works very good. I try put triclops and ROS together but I have a problem with boost libraries. Maybe the problem is the way I launch the pkg. Would you give me more information like the steps you do to launch the nodes? Thanks

pmarinplaza gravatar imagepmarinplaza ( 2013-02-21 20:24:41 -0600 )edit
1

We launch the camera1394stereo_node with this parameter file: http://pastebin.com/1ugc1Zzt You can use dynamic_reconfigure to change some parameters online and try different settings.

Stephan gravatar imageStephan ( 2013-02-21 21:13:09 -0600 )edit

We launch the camera1394stereo_node with this parameter file: http://pastebin.com/1ugc1Zzt

Stephan gravatar imageStephan ( 2013-02-21 21:13:14 -0600 )edit

Thanks a lot. I'll try as soon as I get the camera again.

pmarinplaza gravatar imagepmarinplaza ( 2013-02-26 08:07:31 -0600 )edit

Hi Stephane, I just want to know if you had a good disparity image result with your bumblebee2. I am using it to extract pointClouds and the result is not really good because of the bad calibration results. How can i use the calibration files of point grey with ROS ? Is it possible ?

INSA gravatar imageINSA ( 2013-04-02 07:24:47 -0600 )edit
1

answered 2013-02-18 03:43:58 -0600

joq gravatar image

With no access to this device, there is really no way for us to support it directly as part of camera1394. I wish there were some way, as the differences are relatively small.

All I can suggest is that Format 7 modes often behave strangely on many different 1394 cameras. You might experiment with the more standard modes or with using different Format 7 modes.

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Asked: 2013-02-18 03:01:32 -0600

Seen: 534 times

Last updated: Feb 18 '13