search

A123S / ua-ros-pkg

Automatically exported from code.google.com/p/ua-ros-pkg
0 stars 0 forks source link

problems with compiling videre_stoc #14

Closed GoogleCodeExporter closed 8 years ago

GoogleCodeExporter commented 8 years ago 
What steps will reproduce the problem?
1. rosmake videre_stoc

What is the expected output? What do you see instead?
Output:
...
[rosmake-0] <<< cv_bridge <<< [PASS] [ 0.83 seconds ]
[ rosmake ] [ 22 of 23  Completed ]
[rosmake-0] >>> videre_stoc >>> [ make ]
[ rosmake ] All 39 lines
{-------------------------------------------------------------------------------
  mkdir -p bin
  cd build && cmake -Wdev -DCMAKE_TOOLCHAIN_FILE=`rospack find
rosbuild`/rostoolchain.cmake  ..
  [rosbuild] Building package videre_stoc
  [rosbuild] Including
/home/jou_133/Code/ros/ros/core/roscpp/cmake/roscpp.cmake
  [rosbuild] Including /home/jou_133/Code/ros/ros/core/rospy/cmake/rospy.cmake
  -- Configuring done
  -- Generating done
  -- Build files have been written to:
/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build
  cd build && make -j1
  make[1]: Entering directory
`/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build'
  make[2]: Entering directory
`/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build'
  make[3]: Entering directory
`/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build'
  make[3]: Leaving directory
`/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build'
  [  0%] Built target rospack_genmsg_libexe
  make[3]: Entering directory
`/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build'
  make[3]: Leaving directory
`/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build'
  [  0%] Built target rosbuild_precompile
  make[3]: Entering directory
`/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build'
  make[3]: Leaving directory
`/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build'
  make[3]: Entering directory
`/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build'
  [100%] Building CXX object CMakeFiles/stoc.dir/src/stoc.o

/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/src/sto
c.cpp:
In member function ‘void stoc::STOC::readData(sensor_msgs::PointCloud&,
sensor_msgs::Image&, sensor_msgs::Image&, stereo_msgs::DisparityImage&)’:

/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/src/sto
c.cpp:456:
error: ‘class stereo_msgs::DisparityImage’ has no member named ‘width’

/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/src/sto
c.cpp:457:
error: ‘class stereo_msgs::DisparityImage’ has no member named ‘height’

/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/src/sto
c.cpp:458:
error: ‘class stereo_msgs::DisparityImage’ has no member named 
‘encoding’

/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/src/sto
c.cpp:460:
error: ‘class stereo_msgs::DisparityImage’ has no member named ‘cx’

/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/src/sto
c.cpp:461:
error: ‘class stereo_msgs::DisparityImage’ has no member named ‘cy’

/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/src/sto
c.cpp:462:
error: ‘class stereo_msgs::DisparityImage’ has no member named ‘Tx’

/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/src/sto
c.cpp:463:
error: ‘class stereo_msgs::DisparityImage’ has no member named ‘step’

/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/src/sto
c.cpp:464:
error: ‘class stereo_msgs::DisparityImage’ has no member named 
‘set_data_size’

/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/src/sto
c.cpp:465:
error: ‘class stereo_msgs::DisparityImage’ has no member named ‘data’

/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/src/sto
c.cpp:465:
error: ‘class stereo_msgs::DisparityImage’ has no member named 
‘get_data_size’
  make[3]: *** [CMakeFiles/stoc.dir/src/stoc.o] Error 1
  make[3]: Leaving directory
`/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build'
  make[2]: *** [CMakeFiles/stoc.dir/all] Error 2
  make[2]: Leaving directory
`/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build'
  make[1]: *** [all] Error 2
  make[1]: Leaving directory
`/home/jou_133/Code/ros/ua-ros-pkg/ua-ros-pkg/arrg/ua_drivers/videre_stoc/build'
-------------------------------------------------------------------------------}
[ rosmake ] Output from build of package videre_stoc written to:
[ rosmake ]   
/home/jou_133/.ros/rosmake/rosmake_output-20100323-094154/videre_stoc/build_outp
ut.log
[rosmake-0] <<< videre_stoc <<< [FAIL] [ 3.43 seconds ]
[ rosmake ] Halting due to failure in package videre_stoc. 
[ rosmake ] Waiting for other threads to complete.
[ rosmake ] Summary output to directory
[ rosmake ] /home/jou_133/.ros/rosmake/rosmake_output-20100323-094154

What version of the product are you using? On what operating system?
ROS Box Turtle, ua-ros-pkg latest version
Ubuntu-32bit

Please provide any additional information below.
I'm using SVS Version 4.4g

Original issue reported on code.google.com by jou...@gmail.com on 23 Mar 2010 at 9:12

GoogleCodeExporter commented 8 years ago 
The stereo pipeline and messages changed quite a bit since we updated this node 
last
time. I'd need to update the code to adapt to new code.

You could try using the videre_stereo_cam package to get images from your videre
camera. It does not support stereo processing on camera yet, so you'd have to 
use the
stereo_image_proc package to do the stereo processing. Let me know if that 
works for you.

Original comment by areb...@gmail.com on 25 Mar 2010 at 4:12

GoogleCodeExporter commented 8 years ago 
Yes it works, I already use it, but it's very slow.
The speed is not acceptable to me, I'm making a real-time application. For now 
I'll
use it, but it would be good if the processing would be done on the camera.

Thank you for the response!

Original comment by jou...@gmail.com on 25 Mar 2010 at 7:49

GoogleCodeExporter commented 8 years ago 
I'll try to take a look at it and fix it in the next few days.

Original comment by areb...@gmail.com on 26 Mar 2010 at 2:25

GoogleCodeExporter commented 8 years ago

Original comment by areb...@gmail.com on 26 Mar 2010 at 2:26

GoogleCodeExporter commented 8 years ago 
Here's a patch to make it compilable. Adjust the link_directories directive to 
match
your SVS installation.

Was there ever a ROS node that used this library? I'd like to test if this 
works.

Original comment by jksre...@gmail.com on 19 Apr 2010 at 12:21

Attachments:

GoogleCodeExporter commented 8 years ago 
Thanks for the patch! We do have one package that uses this library if you want 
to 
give it a go, it's called stoc_publisher in ua_vision stack.

Original comment by areb...@gmail.com on 19 Apr 2010 at 2:45

GoogleCodeExporter commented 8 years ago 
The patch made videre_stoc lib compilable, but I oversaw the line for disparity 
image
memory allocation, so stoc_publisher ended up seg faulting.

Here is a patch that corrects that (against revision 523). It also renames 
disparity
topic, in order to conform with stereo_view, but stereo_view complained about 
image
formats and didn't show any images. I inspected the point cloud with rviz, and 
can
confirm that at least that works.

I got low data rate (about 12 Hz). That means that videre_stoc doesn't grab 
disparity
image from the device?

Original comment by jksre...@gmail.com on 19 Apr 2010 at 4:02

Attachments:

GoogleCodeExporter commented 8 years ago 
Thanks for the patches again.

Looking at the code again it does not seem like it's using the STOC features of 
the
camera. We adapted this code from an older code in TUM repo, found here
(http://tum-ros-pkg.svn.sourceforge.net/viewvc/tum-ros-pkg/drivers/composite/sto
c_driver/).
This was just to get some images from our camera to test it out.

I do need to explore the options of getting the disparity image form the camera
itself again. I just did have time for the past month or so. We have another 
node
(videre_stereo_cam) that provides an interface that conforms to what stereo 
pipeline
in ROS expects. But again all stereo processing is done in software.

Some time ago before the big redesign of image pipeline, STOC stuff used work, 
but
then a bunch of stuff was deprecated and broken. I did manage to port some of 
the
functionality to new image pipeline (again videre_stereo_cam package), but STOC
processing is broken. Patches are welcome of course :)

Original comment by areb...@gmail.com on 19 Apr 2010 at 8:27

GoogleCodeExporter commented 8 years ago 
I've just committed the STOC support to videre_stereo_node package. This does 
not
depend on SVS and just has ROS dependencies. Can you check it out and see if 
that
works for you?

Original comment by areb...@gmail.com on 29 Apr 2010 at 11:16

GoogleCodeExporter commented 8 years ago 
Thanks, it works!!

Original comment by jou...@gmail.com on 30 Apr 2010 at 7:09

GoogleCodeExporter commented 8 years ago 
Ok, I've also added the point cloud calculation. I going to close this ticket 
as I 
think I am not going to fix the videre_stoc package that depends on SVS. 
Although if 
anybody wants to work on it I will accept patches.

Original comment by areb...@gmail.com on 30 Apr 2010 at 7:35