perfectspeed's profile - activity

Hi I'm running some sensors on a system with Ubuntu 14.04 and Indigo. I use two Prosilica 1350 in a stereo setup with a resolution of 1360x1024. The cameras are calibrated with cameracalibrator.py and the .yaml-files are placed in ~/.ros/camera_info They are synced by hardware and I've checked the timing in rqt and they are within three microseconds (3 us). I use a launchfile with the relevant content showed below.

Problem: I do not get any disparity from the stereo_image_proc. Question: What do I need to change in my launchfile to get the disparity?

I have tried everything on the "Possible issue"-list:

Possible issues:
        * stereo_image_proc is not running.     // Yes, its running ! 
          Does `rosnode info /stereo_cam` show any connections?   // It shows connections
        * The cameras are not synchronized.   // By Hardware
          Try restarting stereo_view with parameter _approximate_sync:=True     // Done 
        * The network is too slow. One or more images are dropped from each triplet.   
          Try restarting stereo_view, increasing parameter 'queue_size' (currently 50)     
          // Tried queue_size from 5 to 500 and even resized images

Sorry, I'm not able to upload any image of rosgraph, but the nodes seem connected. I get the following warning:

[ WARN] [1469637939.617985018]: [stereo_view] Low number of synchronized left/right/disparity triplets received.
Left images received:      493 (topic '/stereo/left/image_rect')
Right images received:     492 (topic '/stereo/right/image_rect')
Disparity images received: 0 (topic '/stereo/disparity')
Synchronized triplets: 0

rostopic echo /stereo/left/image_rect and rostopic echo /stereo/right/image_rect show running data.

rosnode info /stereo_cam shows:

 Node [/stereo_cam]
    Publications: 
     * /rosout [rosgraph_msgs/Log]

Subscriptions: 
 * /stereo/left/image_rect_color [sensor_msgs/Image]
 * /stereo/disparity [stereo_msgs/DisparityImage]
 * /stereo/right/image_rect_color [sensor_msgs/Image]

Services: 
 * /stereo_cam/set_logger_level
 * /stereo_cam/get_loggers

contacting node http://sas2-truck:33253/ ...
Pid: 13170
Connections:
 * topic: /rosout
    * to: /rosout
    * direction: outbound
    * transport: TCPROS
 * topic: /stereo/left/image_rect_color
    * to: /stereo/stereo_image_proc (http://sas2-truck:35006/)
    * direction: inbound
    * transport: TCPROS
 * topic: /stereo/right/image_rect_color
    * to: /stereo/stereo_image_proc (http://sas2-truck:35006/)
    * direction: inbound
    * transport: TCPROS
 * topic: /stereo/disparity
    * to: /stereo/stereo_image_proc (http://sas2-truck:35006/)
    * direction: inbound
    * transport: TCPROS

Launchfile:

  <!-- Group with namespace, i.e. stereo -->
<group ns="stereo">  

  <!-- Left camera node --> 
  <node name="left" pkg="prosilica_camera" type="prosilica_node" output="screen"  >
     <param name="guid" type="str" value="$(arg guid)" />
    <param name="ip_address" type="str" value="192.168.101.2" />
    <param name="frame_id" value="left_optical_frame" />
    <rosparam command="load" file="cam_settings_1350_Kollmorgen.yaml" />
   <remap from="image_raw" to="/stereo/left/image_raw" />
   <remap from="camera_info" to="/stereo/left/camera_info" /> 
 </node>

  <!-- Right camera node -->
  <node name="right" pkg="prosilica_camera" type="prosilica_node" output="screen"  >
     <param name="guid" type="str" value="$(arg guid)" />
    <param name="ip_address" type="str" value="192.168.102.2" />
    <param name="frame_id" value="right_optical_frame" />
    <rosparam command="load" file="cam_settings_1350_Kollmorgen.yaml" /> 
   <remap from="image_raw" to="/stereo/right/image_raw" />
   <remap from="camera_info" to="/stereo/right/camera_info" /> 
 </node> 

<node name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc" output="screen" > 
<param name="approximate_sync" value="0.01" />
</node>
</group> 

<node name="stereo_cam" pkg="image_view" type="stereo_view" output="screen" >
<param name="queue_size" value="50" />
<param name="approximate_sync" value="True" />
<remap from="stereo/left/image" to="/stereo ...

Hi I have upgraded a system from Ubuntu 12.04 and Groovy to 14.04 and Indigo. The system was earlier based on packages build with ros_build. I now switched to catkin for the standard packaes. However, there are two packages that are created for the specific system with ros_build. To make it easy, I used the tutorial to Developing rosbuild packages on top of groovy and made a rosbuild_ws so that I have a ~/rosbuild_ws and a ~/catkin_ws. Building the first package went quite smoothly, but the other gave some errors. The package depends on some libraries that are placed in the same directory. These libraries are just added and not compiled on my computer.

Question: What do need to change to compile this code without errors?

The structure:

~/rosbuild_ws
     /the-other-pkg
    /fotonic
        /bin
        /build
        /CMakeFiles
        /include
        /launch
        /lib
        /src
        /test    
        /fz-linux-api        ---this directory contains libraries from Fotonic 
       CMakeLists.txt
       mainpage.dox
       Makefile
       manifest.xml

When I run ros_make fotonic i get the following error in the terminal window:

 [rosbuild] Including /opt/ros/indigo/share/roscpp/rosbuild/roscpp.cmake
  [rosbuild] Including /opt/ros/indigo/share/rospy/rosbuild/rospy.cmake
  CMake Error at CMakeLists.txt:38 (if):
    if given arguments:

      "CMAKE_SIZEOF_VOID_P" "EQUALS" "4"

    Unknown arguments specified

  -- Configuring incomplete, errors occurred!
  See also "/home/klas/rosbuild_ws/fotonic/build/CMakeFiles/CMakeOutput.log".
  See also "/home/klas/rosbuild_ws/fotonic/build/CMakeFiles/CMakeError.log".
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package fotonic written to:
[ rosmake ]    /home/klas/.ros/rosmake/rosmake_output-20160720-030402/fotonic/build_output.log
[rosmake-3] Finished <<< fotonic [FAIL] [ 2.79 seconds ]

Row 36-44 in CMakeList.txt contains:

36    SET (FOTONIC_INCLUDE_DIRS ${PROJECT_SOURCE_DIR}/fz-linux-api/include CACHE PATH "fotonic_include dir")

38    if( CMAKE_SIZEOF_VOID_P EQUALS 4 )
39      SET (FOTONIC_LIBRARY_DIRS ${PROJECT_SOURCE_DIR}/fz-linux-api/lib)

41    else( CMAKE_SIZEOF_VOID_P EQUALS 4 )
42      SET (FOTONIC_LIBRARY_DIRS ${PROJECT_SOURCE_DIR}/fz-linux-api/lib64)

44    endif( CMAKE_SIZEOF_VOID_P EQUALS 4 )

And the CMakeError.log tells the following:

Determining if the pthread_create exist failed with the following output:
Change Dir: /home/klas/rosbuild_ws/fotonic/build/CMakeFiles/CMakeTmp

Run Build Command:/usr/bin/make "cmTryCompileExec3611313723/fast"
make[1]: Entering directory `/home/klas/rosbuild_ws/fotonic/build/CMakeFiles/CMakeTmp'
/usr/bin/make -f CMakeFiles/cmTryCompileExec3611313723.dir/build.make CMakeFiles/cmTryCompileExec3611313723.dir/build
make[2]: Entering directory `/home/klas/rosbuild_ws/fotonic/build/CMakeFiles/CMakeTmp'
/usr/bin/cmake -E cmake_progress_report /home/klas/rosbuild_ws/fotonic/build/CMakeFiles/CMakeTmp/CMakeFiles 1
Building C object CMakeFiles/cmTryCompileExec3611313723.dir/CheckSymbolExists.c.o
/usr/bin/cc    -o CMakeFiles/cmTryCompileExec3611313723.dir/CheckSymbolExists.c.o   -c /home/klas/rosbuild_ws/fotonic/build/CMakeFiles/CMakeTmp/CheckSymbolExists.c
Linking C executable cmTryCompileExec3611313723
/usr/bin/cmake -E cmake_link_script CMakeFiles/cmTryCompileExec3611313723.dir/link.txt --verbose=1
/usr/bin/cc       CMakeFiles/cmTryCompileExec3611313723.dir/CheckSymbolExists.c.o  -o cmTryCompileExec3611313723 -rdynamic 
CMakeFiles/cmTryCompileExec3611313723.dir/CheckSymbolExists.c.o: In function `main':
CheckSymbolExists.c:(.text+0x16): undefined reference to `pthread_create'
collect2: error: ld returned 1 exit status
make[2]: Leaving directory `/home/klas/rosbuild_ws/fotonic/build/CMakeFiles/CMakeTmp'
make[2]: *** [cmTryCompileExec3611313723] Error 1
make[1]: Leaving directory `/home/klas/rosbuild_ws/fotonic/build/CMakeFiles/CMakeTmp'
make[1]: *** [cmTryCompileExec3611313723/fast] Error 2

File /home/klas/rosbuild_ws/fotonic/build ...

This is probably a mapping problem between prosilica_camera and stereo_image_proc and maybe a quite easy one, but I have spent some time with it and cant realize what the problem is. Please, any ideas are welcome.

Question: How do I change my launchfile so I get a disparity image?

I'm running Ubuntu 14.04 and Indigo. I use two prosilica cameras in a stereo setup with a hardware sync at 5Hz. I have calibrated the cameras with cameracalibrator.py and it works fine, running as:

rosrun camera_calibration cameracalibrator.py --size 8x6 --square 0.108 right:=/stereo/right/image_raw left:=/stereo/left/image_raw --approximate=0.001

But, I do encounter problems when I create a launchfile with stereo_image_proc. I got the following warning messages:

[ WARN] [1468489598.756891997]: The input topic '/stereo/left/image_raw' is not yet advertised
[ WARN] [1468489598.757031851]: The input topic '/stereo/left/camera_info' is not yet advertised
[ WARN] [1468489598.757079896]: The input topic '/stereo/right/image_raw' is not yet advertised
[ WARN] [1468489598.757120022]: The input topic '/stereo/right/camera_info' is not yet advertised

I can see information when I run, e.g.: rostopic info /stereo/left/image_raw

The part of the launch file that concerns stereo:

<group ns="stereo">

  <!-- Left camera node -->
  <node name="left" pkg="prosilica_camera" type="prosilica_node" output="screen" >
     <param name="guid" type="str" value="$(arg guid)" />
    <param name="ip_address" type="str" value="192.168.101.2" />
    <param name="frame_id" value="left_optical_frame" />
    <rosparam command="load" file="cam_settings_1350.yaml" />
    <remap from="image_raw" to="left/image_raw" />
    <remap from="camera_info" to="left/camera_info" />
 </node>

  <!-- Right camera node -->
  <node name="right" pkg="prosilica_camera" type="prosilica_node" output="screen" >
     <param name="guid" type="str" value="$(arg guid)" />
    <param name="ip_address" type="str" value="192.168.102.2" />
    <param name="frame_id" value="right_optical_frame" />
    <rosparam command="load" file="cam_settings_1350.yaml" />
    <remap from="image_raw" to="right/image_raw" />
    <remap from="camera_info" to="right/camera_info" />
 </node> 

<node name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc" output="screen"> 
<param name="approximate" value="0.005" />
</node>

<node name="stereo_cam" pkg="image_view" type="stereo_view"> </node>

</group>

Added after first comment. rostopic list says :

/diagnostics
/rosout
/rosout_agg
/stereo/disparity
/stereo/left/camera_info
/stereo/left/image_color
/stereo/left/image_color/compressed
/stereo/left/image_color/compressed/parameter_descriptions
/stereo/left/image_color/compressed/parameter_updates
/stereo/left/image_color/compressedDepth
/stereo/left/image_color/compressedDepth/parameter_descriptions
/stereo/left/image_color/compressedDepth/parameter_updates
/stereo/left/image_color/theora
/stereo/left/image_color/theora/parameter_descriptions
/stereo/left/image_color/theora/parameter_updates
/stereo/left/image_mono
/stereo/left/image_mono/compressed
/stereo/left/image_mono/compressed/parameter_descriptions
/stereo/left/image_mono/compressed/parameter_updates
/stereo/left/image_mono/compressedDepth
/stereo/left/image_mono/compressedDepth/parameter_descriptions
/stereo/left/image_mono/compressedDepth/parameter_updates
/stereo/left/image_mono/theora
/stereo/left/image_mono/theora/parameter_descriptions
/stereo/left/image_mono/theora/parameter_updates
/stereo/left/image_raw
/stereo/left/image_raw/compressed
/stereo/left/image_raw/compressed/parameter_descriptions
/stereo/left/image_raw/compressed/parameter_updates
/stereo/left/image_raw/compressedDepth
/stereo/left/image_raw/compressedDepth/parameter_descriptions
/stereo/left/image_raw/compressedDepth/parameter_updates
/stereo/left/image_raw/theora
/stereo/left/image_raw/theora/parameter_descriptions
/stereo/left/image_raw/theora/parameter_updates
/stereo/left/image_rect
/stereo/left/image_rect/compressed
/stereo/left/image_rect/compressed/parameter_descriptions
/stereo/left/image_rect ...