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Cannot get the left image with bumblebee2 camera by "bumblebee1394" package

asked 2011-03-14 14:55:10 -0500

Yongqiang Gao gravatar image

updated 2011-03-14 15:09:27 -0500

Hi, There some confusion for me by bumblebee1394, that i always cannot get the left image.

I try

$ roscore
$ coriander
$ rosrun bumblebee1394 bumblebee1394
$ rosrun image_view image_view image:=/dcam_1300157075816067926/left/image_raw
$ rosrun image_view image_view image:=/dcam_1300157075816067926/right/image_raw

where there always get the same image which is published by right camera. And I read the code carefully that i cannot get any idea. Have somebody faced this problem by bumblebee2 camera?

and for more, when I command $ rosrun bumblebee1394 bumblebee1394 that the terminal show:

~$ rosrun bumblebee1394 bumblebee1394 
[dcam] Reset bus
[dcam] Initializing camera, turning off ISO
[dcam] Color device
[Dcam] Setting type of video mode to 1047752033
[Dcam] Feature register hi: ff9d0000
[Dcam] Feature register lo: 40000000
[Dcam] Exposure min/max: [1,1023]
[Dcam] Gain min/max: [0,683]
[Dcam] Brightness min/max: [0,255]
[Dcam] Setting type of video mode to 75
left imagebumblebee_optical_frame
right imagebumblebee_optical_frame

which I only get the mono image, could somebody explain to me?

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answered 2011-05-05 23:45:29 -0500

Bram van de Klundert gravatar image

the bumblebee stereo camera only transmits stereo images when configured to send images in format7 mode3.

about the second part, the node bumblebee1394 loads a number of parameters from the parameter server. if you start the node with the command: "rosrun bumblebee1394 bumblebee1394" you start it with its default parameters. this means it takes iso speed 400, 30 fps and 640x480 mono 8 bit images. the bumblebee1394 folder also contains a launch file which you can use as example on now to set you own settings on the parameter server.

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Thanks u, and for my first question. How to get the rectification stereo images to do process follow-up? i found some ros-packages which turned out all to be failed. I decided to get the right rectification image which by bumblebee2 itself or not ROS. Do u have some ideas about it?
Yongqiang Gao gravatar image Yongqiang Gao  ( 2011-05-31 14:51:07 -0500 )edit
the bumblebee2 node sets the values for rectification(done by stereo_image_proc(http://www.ros.org/wiki/stereo_image_proc)) hard coded in the function: updateBumblebee2CalibrationData(). stereo_image_proc uses the calibration set in the CameraInfo message.
Bram van de Klundert gravatar image Bram van de Klundert  ( 2011-06-06 03:01:39 -0500 )edit

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Asked: 2011-03-14 14:55:10 -0500

Seen: 819 times

Last updated: May 05 '11