Bram van de Klundert's profile - activity

i have been using a slightly changed version of the bumblebee2 node. the changed i made to the node can be found in this answer: http://answers.ros.org/question/1118/bumblebee2-640x480-under-diamondback?answer=1894#1894.

these fixes work for diamondback, im not sure if they work under electric (it probably works unless some messages have changed by a lot).

(yes i know this is quite an old question, just posting for anyone with the same question)

If you are using OpenCV, the image format is BGR, not RGB. So if you are using OpenCV images and not converting them properly, that might be the answer.

he sam

when you run the command

sudo apt-get install ros-diamondback-*

you try to install every single package/stack available this way. this is way more than just normal diamondback. install instructions for diamondback can be found here: http://www.ros.org/wiki/ROS/Installation

about those dependencies, have you tried installing the dependencies with apt-get install, when i check it shows them as available (you might have to do an apt-get update)

if you use the openni_kinect node to publish the data from the kinect, you could subscribe to one of the camera topics(/camera/rgb/image_color or /camera/rgb/image_mono). this would give you and image message which can be converted to an opencv iplimage using the cv_bridge package (http://www.ros.org/wiki/cv_bridge)

hi everyone,

we are writing a user cockpit application which should serve as a way to control our robot, this cockpit shows 3 camera images, one from the kinect, 2 from two webcams.

when we start the cockpit application with a launch file on a machine connected to the robot, the cockpit shows all 3 of the images but the red and the blue channels of the images from the kinect are swapped.(everything that red shows up blue and the other way around). whenever we start the cockpit manually the same thing happens, except that both the webcams swap the blue and red channel, and the kinects colors are normal.

we have tried starting removing all other applications and parameters from the launch file, this gives the same result

the cockpit application is written in QT4.7.0 and both machines run diamondback on ubuntu 10.04.

i have the bumblebee2 stereo camera working with the bumblebee2 node.

1. ubuntu 10.04
2. ros-diamondback-desktop-full
3. just the dependencies for the bumblebee2 node
4. bumblebee2(http://www.ros.org/browse/details.php?name=bumblebee2)
5. the first change i made is shown in this answer(http://answers.ros.org/question/1096/segmentation-fault-of-bumblebee2?answer=1891#1891). beside that i had to edit the file: "dev_camera1394.cpp" to use format_7 mode_3. to do this search the file for: "dc1394_video_set_mode" and replace: "videoMode_" with "DC1394_VIDEO_MODE_FORMAT7_3"

after that i had quite a bit of trouble with the image tearing. this was caused by my firewire port being unable to handle the trafic. to fix this i had to reduce the package size by adding the following lines:

if (DC1394_SUCCESS != dc1394_format7_set_packet_size(camera_,DC1394_VIDEO_MODE_FORMAT7_3,size)) { ROS_WARN("Failed to set package size"); DMA_Success = false; }

the package size you need to set can be found by running the node than reduce the package size using coriander(can be found in the controls tab)

if you dont need to get both the images from the bumblebee2 camera you only have to make the changes in the other ros answer.

hi Nutan,

the bumblebee2 node contains a bug when setting the CameraInfo on diamondback.

to fix this problem you will need to edit 2 things in the file: "bumblebee2.cpp" the first thing that needs to be done is to resize left_cam_info_.D (left_cam_info_.D.resize(5);) and right_cam_info_.D (right_cam_info_.D.resize(5);)

the second thing that needs to be done is to set the camera info distortion_model to plumb_bob. if this isn't done stereo_camera_proc wont be able to process the image. (right_cam_info_.distortion_model = left_cam_info_.distortion_model = "plumb_bob";)

you will have to add a display to show images. after you have done so it should show an interface where you can select the topic. after selecting the right topic it should show a window, in which your image should be shown. the link provide by lakshmen contains a clear explanation how to do this.

a different solution to your problem might be to read the camera with libdc1394. point grey actually advices you to do so(http://www.ptgrey.com/support/kb/index.asp?a=4&q=26). for the bumblebee 2 there is a package (named bumblebee2 (http://www.ros.org/wiki/bumblebee2) that can be used as a reference if you desire to write your own node.

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.