Closed GoogleCodeExporter closed 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
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
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
Original comment by areb...@gmail.com
on 26 Mar 2010 at 2:26
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:
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
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:
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
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
Thanks, it works!!
Original comment by jou...@gmail.com
on 30 Apr 2010 at 7:09
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
Original issue reported on code.google.com by
jou...@gmail.com
on 23 Mar 2010 at 9:12