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2014-08-04 11:33:44 -0500 received badge  Nice Question (source)
2014-02-03 05:03:47 -0500 commented question rviz crash on adding obstacles from local_costmap

I also have the same problem on my new PC with Intel i7 Haswell. Rviz crashes after showing the laserscan message. PS: I have the same configuration of Angus (RVIZ 1.9.34. OGRE 1.7.4 OpenGl 3 (GLSL 1.3). Intel Hashwell Video driver.

2014-01-28 17:25:32 -0500 marked best answer Stereo Camera syncronization

Hi all, I'm using the uvc_camera package and its stereo_node to grab frames from my 2 webcams. Now I'm trying to have a measure of the sync error of the 2 frames doing the following: 1) write informations about left and right camera in 2 files

rostopic echo -p /left/camera_info > left.csv
rostopic echo -p /right/camera_info > right.csv

2) compare timestamps field inside left.csv and right.csv

With my big surprise, timestamps are always the same for all frames couples (30000+ couples, 15fps), saying that there's no sync error. I think that this result is quite impossible because timestamps are taken with a precision of 1 nanosecond.

Now the question is: does uvc_camera has some magical power that I don't know or something else happened?

Is there another way to have a precise mesure of the sync error?

Thanks, Fabio.

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2013-05-19 21:55:22 -0500 commented question stereo_image_proc failing for Prosilica cameras when binning

Hi! I've the same problem with Manta cameras. Did you solve this issue?

2013-05-19 21:48:18 -0500 commented answer Camera Pose Calibration: problem with multicam_capture_exec.py

I'm sorry, I haven't found the solution.

2013-05-16 02:15:08 -0500 answered a question stereo_image_proc failing for Prosilica cameras when binning

Hi! I've the same problem with Manta cameras. Did you solve this issue?

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2012-07-26 06:37:35 -0500 commented answer Camera Pose Calibration: problem with multicam_capture_exec.py

I think that camera_pose_calibration has some problems and after a lot of tries I'm still not able to make it work. My intention was to condense all problems and possible solutions here. If this is wrong I can re-arrange questions opening a new one.

2012-07-26 06:02:04 -0500 commented answer Camera vs world calibration

I've found another great package! http://www.ros.org/wiki/ar_pose It works perfectly with special markers.

2012-07-26 04:03:31 -0500 commented question laser_scan_matcher run problems

Same problem with ar_pose! The launch file has the same format as in rosbag tutorials. Does something have changed in rosbag?

2012-07-25 06:32:50 -0500 commented answer Camera vs world calibration

I've asked another question about camera_pose_calibration: http://answers.ros.org/question/35898/camera-pose-calibration-problem-with I've solved some problems today and now the problem is that it doesn't publish to tf. I'll explain better in the other question.

2012-07-25 06:05:28 -0500 commented answer Camera vs world calibration

Thanks for your answer! I'm looking at the openCV documentation right now. Would have been better if there was a package of ROS already implemented! :-)

2012-07-25 06:00:49 -0500 commented answer Camera vs world calibration

I've followed this tutorial for the intrinsic camera calibration. That package isn't able to tell me the position (transl+rot) of the camera in respect of the world.

2012-07-25 03:50:27 -0500 asked a question Camera vs world calibration

Hi all! I'm successfully using a "home made" stereo head to obtain a disparity image with the package stereo_image_proc.

Now I'm trying to calculate the position of the camera in the world frame, possibly using a checkerboard where the first cross represents the world origin. I've tried to use the camera_pose_calibration package without success.

Do you know others methods that you can suggest me?

I'm particulary interested in online methods where the camera automatically calibrates itself by looking at the checkerboard.

Many thanks!

2012-07-25 00:19:37 -0500 answered a question Camera Pose Calibration: problem with multicam_capture_exec.py

Here is the solution to the ".py script not found" error:

cd /opt/ros/fuerte/stacks/camera_pose/camera_pose_calibration/src/camera_pose_calibration
sudo mv robot_measurement_cache.py robot_measurement_cache.py.org
sudo cp /opt/ros/fuerte/stacks/calibration/calibration_launch/src/capture_executive/robot_measurement_cache.py .

By the way I'm still not able to have something published to /tf.

2012-07-25 00:08:56 -0500 answered a question Camera Pose Calibration: problem with multicam_capture_exec.py

Solution to the ".py script not found" error:

cd /opt/ros/fuerte/stacks/camera_pose/camera_pose_calibration/src/camera_pose_calibration
sudo mv robot_measurement_cache.py robot_measurement_cache.py.org
sudo cp /opt/ros/fuerte/stacks/calibration/calibration_launch/src/capture_executive/robot_measurement_cache.py .

By the way, I'm still not able to have something published to /tf.

EDIT: I'll describe the workflow and the final problem of camera_pose_calibration.

launch file for cameras

<launch>
  <group ns="baseline12">
    <node name="stereo_image_proc_bsl12" pkg="stereo_image_proc" type="stereo_image_proc"></node>    
    <node name="uvc_camera_bsl12" pkg="uvc_camera" type="stereo_node">
      <param name="left/device" value="/dev/video1" />
      <param name="right/device" value="/dev/video2" />
      <param name="fps" value="15" />
      <param name="skip_frames" value="1" />
      <param name="width" value="640" />
      <param name="height" value="480" />
      <param name="frame_id" value="baseline12" />
    </node>

  <include file="$(find camera_pose_calibration)/blocks/calibration_tf_publisher.launch">
    <arg name="cache_file" value="/tmp/camera_pose_calibration_cache.bag" />
  </include>
</group>
</launch>

command line for camera_pose_calibration

roslaunch camera_pose_calibration calibrate_2_camera.launch camera1_ns:=/baseline12/left camera2_ns:=/baseline12/right checker_rows:=6 checker_cols:=8 checker_size:=0.028

Then I can see the /aggregated_image and the checkerboard corners are correctly identified. The problem is that I can't go on after this point. You can see the screenshot: camera_pose_calibration end point

rostopic list output

fabio@faramir:~$ rostopic list
/aggregated_image
/baseline12/camera_calibration
/baseline12/disparity
/baseline12/left/camera_info
/baseline12/left/cb_detector_config/cancel
/baseline12/left/cb_detector_config/feedback
/baseline12/left/cb_detector_config/goal
/baseline12/left/cb_detector_config/result
/baseline12/left/cb_detector_config/status
/baseline12/left/features
/baseline12/left/image_color
/baseline12/left/image_color/compressed
/baseline12/left/image_color/compressed/parameter_descriptions
/baseline12/left/image_color/compressed/parameter_updates
/baseline12/left/image_color/theora
/baseline12/left/image_color/theora/parameter_descriptions
/baseline12/left/image_color/theora/parameter_updates
/baseline12/left/image_mono
/baseline12/left/image_mono/compressed
/baseline12/left/image_mono/compressed/parameter_descriptions
/baseline12/left/image_mono/compressed/parameter_updates
/baseline12/left/image_mono/theora
/baseline12/left/image_mono/theora/parameter_descriptions
/baseline12/left/image_mono/theora/parameter_updates
/baseline12/left/image_raw
/baseline12/left/image_raw/compressed
/baseline12/left/image_raw/compressed/parameter_descriptions
/baseline12/left/image_raw/compressed/parameter_updates
/baseline12/left/image_raw/theora
/baseline12/left/image_raw/theora/parameter_descriptions
/baseline12/left/image_raw/theora/parameter_updates
/baseline12/left/image_rect
/baseline12/left/image_rect/compressed
/baseline12/left/image_rect/compressed/parameter_descriptions
/baseline12/left/image_rect/compressed/parameter_updates
/baseline12/left/image_rect/theora
/baseline12/left/image_rect/theora/parameter_descriptions
/baseline12/left/image_rect/theora/parameter_updates
/baseline12/left/image_rect_color
/baseline12/left/image_rect_color/compressed
/baseline12/left/image_rect_color/compressed/parameter_descriptions
/baseline12/left/image_rect_color/compressed/parameter_updates
/baseline12/left/image_rect_color/theora
/baseline12/left/image_rect_color/theora/parameter_descriptions
/baseline12/left/image_rect_color/theora/parameter_updates
/baseline12/left/image_throttle
/baseline12/left/monocam_settler_config/cancel
/baseline12/left/monocam_settler_config/feedback
/baseline12/left/monocam_settler_config/goal
/baseline12/left/monocam_settler_config/result
/baseline12/left/monocam_settler_config/status
/baseline12/left/settled_interval
/baseline12/points
/baseline12/points2
/baseline12/right/camera_info
/baseline12/right/cb_detector_config/cancel
/baseline12/right/cb_detector_config/feedback
/baseline12/right/cb_detector_config/goal
/baseline12/right/cb_detector_config/result
/baseline12/right/cb_detector_config/status
/baseline12/right/features
/baseline12/right/image_color
/baseline12/right/image_color/compressed
/baseline12/right/image_color/compressed/parameter_descriptions
/baseline12/right/image_color/compressed/parameter_updates
/baseline12/right/image_color/theora
/baseline12/right/image_color/theora/parameter_descriptions
/baseline12/right/image_color/theora/parameter_updates
/baseline12/right/image_mono
/baseline12/right/image_mono/compressed
/baseline12/right/image_mono/compressed/parameter_descriptions
/baseline12/right/image_mono/compressed/parameter_updates
/baseline12/right/image_mono/theora
/baseline12/right/image_mono/theora/parameter_descriptions
/baseline12 ...
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2012-06-07 01:20:30 -0500 edited question Camera Pose Calibration: problem with multicam_capture_exec.py

Hi all! I'm trying to calibrate 2 home-made stereo cameras (4 total cameras) with the camera_pose toolkit and I've problems with the multicam_capture_exec.py.

I receive the following error:

Waiting for Server
Traceback (most recent call last):
  File "/opt/ros/fuerte/stacks/camera_pose/camera_pose_calibration/src/camera_pose_calibration/multicam_capture_exec.py", line 43, in <module>
    from camera_pose_calibration.robot_measurement_cache import RobotMeasurementCache
  File "/opt/ros/fuerte/stacks/camera_pose/camera_pose_calibration/src/camera_pose_calibration/robot_measurement_cache.py", line 34, in <module>
    import roslib; roslib.load_manifest('pr2_calibration_executive')
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/roslib/launcher.py", line 62, in load_manifest
    sys.path = _generate_python_path(package_name, _rospack) + sys.path
  File "/opt/ros/fuerte/lib/python2.7/dist-packages/roslib/launcher.py", line 93, in _generate_python_path
    m = rospack.get_manifest(pkg)
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 167, in get_manifest
    return self._load_manifest(name)
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 210, in _load_manifest
    retval = self._manifests[name] = parse_manifest_file(self.get_path(name), self._manifest_name)
  File "/usr/lib/pymodules/python2.7/rospkg/rospack.py", line 202, in get_path
    raise ResourceNotFound(name, ros_paths=self._ros_paths)
rospkg.common.ResourceNotFound: pr2_calibration_executive


[capture_exec-24] process has died [pid 12415, exit code 1, cmd /opt/ros/fuerte/stacks/camera_pose/camera_pose_calibration/src/camera_pose_calibration/multicam_capture_exec.py baseline12/left baseline12/right baseline6/left baseline6/right/ request_interval:=interval_filtered __name:=capture_exec __log:=/home/fabio/.ros/log/ad23e236-b07d-11e1-afbb-14dae9c3e9c0/capture_exec-24.log].
log file: /home/fabio/.ros/log/ad23e236-b07d-11e1-afbb-14dae9c3e9c0/capture_exec-24*.log

Any idea?

My launch file:

<launch>

<!-- MACHINES -->
  <machine name="rosboromir" address="rosboromir" user="fabio" env-loader="/opt/ros/fuerte/env.sh">
  </machine>

  <machine name="rosfaramir" address="rosfaramir" user="fabio" env-loader="/opt/ros/fuerte/env.sh">
  </machine>

<!-- LAUNCH BASELINE6 ON ROSBOROMIR -->
  <!-- Driver nodelet -->
  <node machine="rosboromir" ns="baseline6" name="stereo_image_proc_bsl6" pkg="stereo_image_proc" type="stereo_image_proc"></node>
  <node machine="rosboromir" ns="baseline6" name="uvc_camera_bsl6" pkg="uvc_camera" type="stereo_node">
    <param name="left/device" value="/dev/video1" />
    <param name="right/device" value="/dev/video2" />
    <param name="fps" value="30" />
    <param name="skip_frames" value="3" />
    <param name="width" value="320" />
    <param name="height" value="240" />
    <param name="frame_id" value="baseline6" />
  </node>

<!-- LAUNCH BASELINE12 ON ROSFARAMIR -->
  <!-- Driver nodelet -->
  <node machine="rosfaramir" ns="baseline12" name="stereo_image_proc_bsl12" pkg="stereo_image_proc" type="stereo_image_proc"></node>
  <node machine="rosfaramir" ns="baseline12" name="uvc_camera" pkg="uvc_camera" type="stereo_node">
    <param name="left/device" value="/dev/video1" />
    <param name="right/device" value="/dev/video2" />
    <param name="fps" value="15" />
    <param name="skip_frames" value="1" />
    <param name="width" value="640" />
    <param name="height" value="480" />
    <param name="frame_id" value="baseline12" />
  </node>

</launch>

Command line for calibration:

roslaunch camera_pose_calibration calibrate_4_camera.launch camera1_ns:=baseline12/left camera2_ns:=baseline12/right camera3_ns:=baseline6/left camera4_ns:=baseline6/right/ checker_rows:=10 checker_cols:=5 checker_size:=0.0015

EDIT: In the file calibrate_4_cameras.launch, the lines that give me the error are the following:

  <!-- generate robot measurements -->
  <node pkg="camera_pose_calibration" type="multicam_capture_exec.py" name="capture_exec" 
        args="$(arg camera1_ns) $(arg camera2_ns) $(arg camera3_ns) $(arg camera4_ns)" output="screen">
    <param name="cam_info_topic" value="camera_info" />
    <remap from="request_interval" to="interval_filtered" />
  </node>

Do I need that lines to have camera calibrated? What does they do?

EDIT2: I've followed the ... (more)