Bumblebee2 output left/right images corrupted

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

pmarinplaza
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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

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

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

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

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

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 ( 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 ( 2013-02-21 20:24:41 -0600 )edit

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 ( 2013-02-21 21:13:09 -0600 )edit

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

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

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

pmarinplaza ( 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 ( 2013-04-02 07:24:47 -0600 )edit

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

joq
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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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