ROSkinect's profile - activity

Force rviz2 to use eGPU I'm using rviz2 on foxy and after a few frames at 30 fps, the fps drops to 0 fps. I checked my e

Force rviz2 to use eGPU I'm using rivz2 on foxy and after a few frames at 30 fps, the fps drops to 0 fps. I checked my e

@ravijoshi Using my sensor I'm able to generate 3D points where there is no obstacle, so I need to send points to octoma

Publishing points cloud as free points for Octomap I’m generating points cloud from some data and feeding that to octoma

I'm using catkin package with one node (cpp file).

I want to add one more node (cpp file) in the same package but I get this error during the compilation:

-- +++ processing catkin package: 'kinectueye'
-- ==> add_subdirectory(kinectueye) CMake Error at kinectueye/CMakeLists.txt:180 (add_executable):   add_executable cannot create target "kinectueye" because another target   with the same name already exists.  The existing target is an executable   created in source directory "/home/jros/catkin_ws/src/kinectueye". See   documentation for policy CMP0002 for more details.

the package is called kinectueye and the kinectueye (the same name) is the executable of the first node.

How can I make one package with two nodes ?

I have to record a dataset using the kinect, it should contains RBG images and depth images..

Using this code:

char filename[80];
int i=0,j=0;

void imageCallbackdepth(const sensor_msgs::ImageConstPtr& msg)
{
    // convert message from ROS to openCV
    cv_bridge::CvImagePtr cv_ptr;

    try
    {
        cv_ptr = cv_bridge::toCvCopy(msg, sensor_msgs::image_encodings::TYPE_32FC1);

    }

    catch (cv_bridge::Exception& e)
    {
        ROS_ERROR("cv_bridge exception: %s", e.what());
        return;
    }

      sprintf(filename,"depth_%d.png", i++);
      cv::imwrite(filename,cv_ptr->image);
}

void imageCallbackrgb(const sensor_msgs::ImageConstPtr& msg)
{
    //The same for RGB
}

I have a couple of questions:

How can I make sure that I'm saving images at 30fps? Am I not missing any frame? How can I change this parameter?

Saving RBG and depth at the same time and adding another sensor (stereocamera) doesn't effect that?

My program is correct, is it the right way to do this?

Did you find anything about that ?

You can add next OpenCV the version you want to work with, for eg. find_package(OpenCV 4.01 REQUIRED ...

I recorded a bagfile which contains rgb and depth images:

path:        kinectrgbdepthnew.bag
version:     2.0
duration:    6.7s
start:       Jun 23 2016 14:55:41.10 (1466686541.10)
end:         Jun 23 2016 14:55:47.85 (1466686547.85)
size:        395.9 MB
messages:    386
compression: none [386/386 chunks]
types:       sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
topics:      /camera/depth/image     193 msgs    : sensor_msgs/Image
             /camera/rgb/image_raw   193 msgs    : sensor_msgs/Image

But when I try to extract the rgb images

<launch>
  <node pkg="rosbag" type="play" name="rosbag" args="$(find imagesequencekinect)/kinectrgbnew.bag"/>
  <node name="extract" pkg="image_view" type="extract_images" respawn="false" output="screen" cwd="ROS_HOME">
    <remap from="image" to="/camera/rgb/image_raw"/>
  </node>
</launch>

I don't get all the images, it stops for this example at frame0062.jpg and if I keep openni2 running it starts saving images in live from frame0063..

[ INFO] [1466686708.317537964]: Saved image frame0062.jpg
[rosbag-1] process has finished cleanly
log file: /home/jros/.ros/log/977b5f76-3941-11e6-8b71-5c260a35b6aa/rosbag-1*.log
[ INFO] [1466686708.452904753]: Saved image frame0063.jpg

I don't know why it doesn't save all the frames and why it starting color stream automatically

I'm publishing /camera/image_raw of type sensor_msgs/Image from PointgreyDriver :

image_transport::SubscriberStatusCallback cb = boost::bind(&PointGreyCameraNodelet::connectCb, this);
it_pub_ = it_->advertiseCamera("image_raw", 5, cb, cb);

On the other hand I'm subscribing to that topic:

 this->sub = new image_transport::Subscriber(this->imageTransport->subscribe("/camera/image_raw",1000,&p_vision_apriltags::callback,this));
imgTmp = cv_bridge::toCvCopy(msg,sensor_msgs::image_encodings::TYPE_8UC3);

The error I'm getting is an exception:

terminate called after throwing an instance of 'cv_bridge::Exception'
  what():  [bayer_rggb8] is a color format but [8UC3] is not so they must have the same OpenCV type, CV_8UC3, CV16UC1 ....
[AprilTagsDetector-1] process has died [pid 29207, exit code -6, cmd /home/jaouadros/catkin_ws/devel/lib/p_vision_apriltags/p_vision_apriltags __name:=AprilTagsDetector __log:=/home/jaouadros/.ros/log/da606018-a91e-11e7-80aa-0024d7d045f0/AprilTagsDetector-1.log].
log file: /home/jaouadros/.ros/log/da606018-a91e-11e7-80aa-0024d7d045f0/AprilTagsDetector-1*.log
all processes on machine have died, roslaunch will exit

When I change TYPE_8UC3 to bgr8 it shows frames with random uniform colors.

What types should I be using? normally TYPE_8UC3 works with image_raw !

I'm subscribing to /camera/depth/image topic, after some processing I want to publish it again but in different rate.

I'm already trying to do it using some code but I didn't succeed yet. (Publishing is working)

I found a very short answer that I'm trying to follow but not very clear enough. Here

EDIT - SOLUTION:

I found a solution in throttle package, but I don't get really exactly the rate I input which is g_period=msgs_per_sec in the package:

The rate I get is:

rostopic hz /depth_output 

average rate: 15.018
    min: 0.063s max: 0.069s std dev: 0.00187s window: 14

Here is it:

ros::Time g_last_time;
ros::Duration g_period;

g_period = ros::Duration(1.0/20); //msgs_per_sec

ros::Time now;
now = ros::Time::now();
if((now - g_last_time) > g_period)
 {
   depth_pub_.publish(depth_msg.toImageMsg());
   g_last_time = now;
 }

When I launch my camera using:

roslaunch pointgrey_camera_driver camera.launch

it starts working and publishing all topics, very normal!

Then I launch my node that subscribe to /camera/image_raw and it works fine. But when I shut down my node and launch it again, it doesn't work! even though the topic is still published.

Also

rostopic echo /camera/image_raw

doesn't give anything after that.

I noticed I get that error:

[ERROR] [1491313248.152009223]: PointGreyCamera::grabImage Failed to retrieve buffer | FlyCapture2::ErrorType 41 There is an image consistency issue with this image.

What's the issue?

I'm using:

Ubuntu 16.04

ROS kinetic

Camera Blackfly 0.9 MP Color GigE PoE (Sony ICX692)

Driver camera: https://github.com/ros-drivers/pointg...

Unable to change the resolution of the camera without cropping the image I'm using bayer_rggb_image_proc.launch file in

Setting camera image publisher for 100 MB/s transfer I've a camera connected through Ethernet and publishing images in a

@lucasw they say in the manual that it is ascii output strings and they give the string format as I mentioned in my post

interpretation of strings IMU raw data I'm reading some information from the buffer char ucResponse[BudfSize]; bufPos

Show the pose in rviz I'm learning rviz and the application I'm trying to learn from is detect a marker, extract its pos

Show the pose in rviz I'm learning rviz and the application I'm trying to learn from is detect a marker, extract its pos

I created my catkin package like so:

 catkin_create_pkg dcp_processing sensor_msgs cv_bridge roscpp std_msgs image_transport

I don't edit anything, then I compile the package:

catkin_make

I get that error the cv_bridge is missing. I didn't add or edit anything in the package so everything is by default as it is created with catkin_create_pkg.

I'm using Ubuntu 16.04 Kinetic ROS Distribution.

CMake Warning at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:76 (find_package):   Could not find a package configuration file provided by "cv_bridge" with   any of the following names:

    cv_bridgeConfig.cmake
    cv_bridge-config.cmake

  Add the installation prefix of "cv_bridge" to CMAKE_PREFIX_PATH or set   "cv_bridge_DIR" to a directory containing one of the above files.  If "cv_bridge" provides a separate development package or SDK, be sure it has   been installed. Call Stack (most recent call first):   dcp_processing/CMakeLists.txt:10 (find_package)


-- Could not find the required component 'cv_bridge'. The following CMake error indicates that you either need to install the package with the same name or change your environment so that it can be found. CMake Error at /opt/ros/kinetic/share/catkin/cmake/catkinConfig.cmake:83 (find_package):   Could not find a package configuration file provided by "cv_bridge" with   any of the following names:

    cv_bridgeConfig.cmake
    cv_bridge-config.cmake

  Add the installation prefix of "cv_bridge" to CMAKE_PREFIX_PATH or set   "cv_bridge_DIR" to a directory containing one of the above files.  If "cv_bridge" provides a separate development package or SDK, be sure it has   been installed. Call Stack (most recent call first):   dcp_processing/CMakeLists.txt:10 (find_package)


-- Configuring incomplete, errors occurred! See also "/home/jaouadros/catkin_ws/build/CMakeFiles/CMakeOutput.log". See also "/home/jaouadros/catkin_ws/build/CMakeFiles/CMakeError.log". Makefile:640: recipe for target 'cmake_check_build_system' failed make: *** [cmake_check_build_system] Error 1