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2012-02-14 06:33:12 -0500 commented answer Proper Sequence for Getting Disparity Map from GPU

We looked into adapting the code from stereo_image_proc_gpu however it proved to be more work than expected and we ended up writing our own code. We'd like to eventually release this code to the ROS community however it needs to go through some major revisions before that happens. When the code gets polished and commented a little more what's the best way to get community feedback?

2012-02-14 06:20:27 -0500 answered a question Proper Sequence for Getting Disparity Map from GPU

It turned out to be a combination of having the images swapped and the images not being in gray scale (MONO8).

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2012-02-02 05:22:09 -0500 asked a question Proper Sequence for Getting Disparity Map from GPU

Hello,

I'm trying to write a GPU implementation of stereo_image_proc and am having some trouble getting a proper disparity map from my GPU. What I'm wondering is if I missed a filtering step. The current program flow goes as follows.

  1. Load left and right camera calibration data from two YAMLs and store in a Mat for OpenCV to later process
  2. Run initUndistortRectifyMap from OpenCV on said data to get the map matrices for rectification
  3. Upload map matrices as well as left and right camera images to GPU
  4. Rectify the images using gpu::remap
  5. Compute disparity map using gpu::StereoBM_GPU
  6. Bring image back to computer from GPU and publish into a ROS topic

I know everything up to and including rectifying the cameras images is correct because the rectified images are the same as those returned by stereo_image_proc. Below are the left and right camera images along with the disparity that is returned from the GPU. I also can't explain why there's a black bar on the left of the disparity map.

Left, Right, and Disparity

I can provide code if needed but I didn't want to clutter up the post if it was as simple as a missing step. Thanks for any help with this matter!

2012-01-19 03:21:24 -0500 commented answer diamondback stereo_image_proc and GPU
Does anyone know if this is currently being worked on by someone?
2012-01-18 06:53:41 -0500 commented answer Specifying GUID causes camera1394 to fail. [camera] device open failed: [Camera1394::open]: Could not find camera with guid
The leading zeros issue was the cause. Thanks for the help!
2012-01-18 06:51:23 -0500 marked best answer Specifying GUID causes camera1394 to fail. [camera] device open failed: [Camera1394::open]: Could not find camera with guid

While looking at this problem again, I counted the number of GUID bytes. There should be eight, but there are only seven.

Perhaps your camera GUIDs have a leading zero byte. Try opening them like this:

rosrun camera1394 camera1394_node _guid:=00b09d01008fe780

I think that will work. If so, we should fix the driver to print GUIDs with the appropriate number of leading zeros.

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2011-12-20 12:32:54 -0500 commented question Specifying GUID causes camera1394 to fail. [camera] device open failed: [Camera1394::open]: Could not find camera with guid
yes, I get the same error when I specify b09d01008fe77e
2011-11-21 13:41:17 -0500 asked a question Specifying GUID causes camera1394 to fail. [camera] device open failed: [Camera1394::open]: Could not find camera with guid

I have 2 cameras connected via firewire, and can open either one independently, when I dont specify the guid. However, when the guid is specified with the command:

rosrun camera1394 camera1394_node _guid:=b09d01008fe780

it gives the following output:

[ INFO] [1321932109.948708636]: using default calibration URL
[ INFO] [1321932109.949074860]: camera calibration URL: file:///home/igvc/.ros/camera_info/camera.yaml
[ERROR] [1321932109.949321389]: Unable to open camera calibration file [/home/igvc/.ros/camera_info/camera.yaml]
[ WARN] [1321932109.949433333]: Camera calibration file /home/igvc/.ros/camera_info/camera.yaml not found.
[ INFO] [1321932110.109780362]: Found camera with GUID b09d01008fe780
[ INFO] [1321932110.112069001]: Found camera with GUID b09d01008fe77e
[ WARN] [1321932110.112333326]: [camera] exception opening device (retrying): [Camera1394::open]: Could not find camera with guid b09d01008fe780
[ INFO] [1321932110.116237817]: Found camera with GUID b09d01008fe780
[ INFO] [1321932110.118381988]: Found camera with GUID b09d01008fe77e
[ WARN] [1321932110.118514197]: [camera] exception opening device (retrying): [Camera1394::open]: Could not find camera with guid b09d01008fe780
[ INFO] [1321932110.122364814]: Found camera with GUID b09d01008fe780
[ INFO] [1321932110.124582016]: Found camera with GUID b09d01008fe77e
[ERROR] [1321932110.124722269]: [camera] device open failed: [Camera1394::open]: Could not find camera with guid b09d01008fe780

I need the images from both cameras for stereo vision.