Hi all,
Currently I am trying to use image_proc/crop_decimate to reduce the both rgb and depth image resolution of a sensor that I am using. I was able to drop the resolution for rgb image using decimation_x and decimation_y parameters. But for depth image case, it did not work. I am wondering if this image_proc/crop_decimate function is not for depth image, but only for rgb image. I am using Ubuntu 14.04 and ROS indigo. Is there anyone who has dealt with image_proc/crop_decimate for depth image? If there is something I missed, please let me know.
Thank you.
--edit
This is what my lauch file looks like
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Decimation function of image_proc for dropping depth image resolution
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Image_proc causes images to hang
I have calibrated two pointgrey cameras to operate in stereo using the [tutorial](http://wiki.ros.org/camera_calibration/Tutorials/StereoCalibration). I also have a similar setup still running in ros electric, so I know the system works in a slightly different configuration.
Here is my launch file for the cameras:
cam.l :
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Cropping a raw camera image before it is rectified.
Hi,
After reading a lot of Q&A's on the topic, I still can't seem to crop an input image before rectifying it. I hope someone can help me. I'm runing KUbuntu 14.04 and ROS indigo
I can take a raw image, rectify it using the camera calibrator toolbox (e.g. using rosrun camera_calibration cameracalibrator.py -p circles -s 8x7 -q 0.02 image:=camera/image_raw&) and act upon the rectified image (view it etc). All fine, using the following :
roscore&
roslaunch uvc_camera webcam_calibrated.launch&
The launch file for uvc_camera is e.g.:
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How to use image_proc node
Using Xtion on Ubuntu with ROS hydro. Ran openni2_launch to the launch camera drivers. > $ rostopic list
/camera/rgb/image_raw
/camera/rgb/camera_info
and many other topics /camera/depth/.. camera/ir/..
> ROS_NAMESPACE=camera rosrun image_proc> image_proc
tells me to advertise /camera/image_raw first.
[ WARN] [1426076094.517140381]: The input topic '/camera/image_raw' is not yet advertised
I was assuming my camera drivers are publishing to /camera/image_raw and camera/camera_info by default which I suppose image_proc will subscribe to publish image_mono or image_rect image but apparently they are publishing /camera/rgb/image_raw and camera/rgb/camera_info. What is the difference between /camera/image_raw and /camera/rgb/image_raw and how should I publish /camera/image_raw.
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How to run image_proc with roslaunch
How do you write a launch file to pipeline a color usb camera into image_proc, convert it to mono, and display it in a window?
To display a color usb webcam, this simple launch file works well:
webcam_color.launch:
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How to configure image_proc for publishing only the image_rect_color
Hi, I am using a camera from axis and i am interested in getting a rectified image. By running the image_proc node i am getting several topics, including something related to theora. I would like to configure the image_proc for publishing only the image_rect_color/compressed topic and avoiding overloading my system with the other topics that are being published, such as /axis_camera_front/image_rect and /axis_camera_front/image_rect/theora. I am recording some bag files and I have to filter them to take away of those images.
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Image_proc fails with segmentation fault on ros::spin()
Hi,
I'm trying to run this node:
#include
#include
#include
int main(int argc, char **argv)
{
ros::init(argc, argv, "image_proc");
// Check for common user errors
if (ros::names::remap("camera") != "camera")
{
ROS_WARN("Remapping 'camera' has no effect! Start image_proc in the "
"camera namespace instead.\nExample command-line usage:\n"
"\t$ ROS_NAMESPACE=%s rosrun image_proc image_proc",
ros::names::remap("camera").c_str());
}
if (ros::this_node::getNamespace() == "/")
{
ROS_WARN("Started in the global namespace! This is probably wrong. Start image_proc "
"in the camera namespace.\nExample command-line usage:\n"
"\t$ ROS_NAMESPACE=my_camera rosrun image_proc image_proc");
}
// Shared parameters to be propagated to nodelet private namespaces
ros::NodeHandle private_nh("~");
ROS_INFO("Step1");
XmlRpc::XmlRpcValue shared_params;
int queue_size;
if (private_nh.getParam("queue_size", queue_size))
shared_params["queue_size"] = queue_size;
nodelet::Loader manager(false); // Don't bring up the manager ROS API
nodelet::M_string remappings;
nodelet::V_string my_argv;
ROS_INFO("Step2");
// Debayer nodelet, image_raw -> image_mono, image_color
std::string debayer_name = ros::this_node::getName() + "_debayer";
manager.load(debayer_name, "image_proc/debayer", remappings, my_argv);
// Rectify nodelet, image_mono -> image_rect
std::string rectify_mono_name = ros::this_node::getName() + "_rectify_mono";
if (shared_params.valid())
ros::param::set(rectify_mono_name, shared_params);
manager.load(rectify_mono_name, "image_proc/rectify", remappings, my_argv);
ROS_INFO("Step3");
// Rectify nodelet, image_color -> image_rect_color
// NOTE: Explicitly resolve any global remappings here, so they don't get hidden.
remappings["image_mono"] = ros::names::resolve("image_color");
remappings["image_rect"] = ros::names::resolve("image_rect_color");
ROS_INFO("Step4");
std::string rectify_color_name = ros::this_node::getName() + "_rectify_color";
if (shared_params.valid())
ros::param::set(rectify_color_name, shared_params);
ROS_INFO("Step5");
manager.load(rectify_color_name, "image_proc/rectify", remappings, my_argv);
ROS_INFO("Step6");
// Check for only the original camera topics
ros::V_string topics;
ROS_INFO("Step7");
topics.push_back(ros::names::resolve("image_raw"));
topics.push_back(ros::names::resolve("camera_info"));
ROS_INFO("Step8");
image_proc::AdvertisementChecker check_inputs(ros::NodeHandle(), ros::this_node::getName());
ROS_INFO("Step9");
check_inputs.start(topics, 60.0);
ros::spin();
ROS_INFO("Step10");
return 0;
}
However, every time I run it, it goes through it's lines (look at the ROS_INFO(StepX)) and then when it reaches the end, it just fails.
peter@peter:~/brokenGlasses$ ROS_NAMESPACE=camera rosrun image_proc image_proc
[ INFO] [1436016564.924762943]: Step1
[ INFO] [1436016564.940809151]: Step2
[ INFO] [1436016565.444694821]: Step3
[ INFO] [1436016565.444757917]: Step4
[ INFO] [1436016565.444783119]: Step5
[ INFO] [1436016565.671524024]: Step6
[ INFO] [1436016565.671576133]: Step7
[ INFO] [1436016565.671605069]: Step8
[ INFO] [1436016565.671639400]: Step9
Segmentation fault (core dumped)
I'm assuming the namespace is correct since I didn't get the yellow warnings, however there is really nothing to work on here and I'm at an impasse on what to do.
If anyone ahs some good ideas, I would really appreciate it!
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image_proc/crop_decimate generates no topics
I use realsense camera, where driver comes without camera_info topic. Therefore I did calibration on my own and wrote my own node publishing camera_info. Now I want to use crop_decimate from image_proc to downsample my image from 1920x1080 to 640x480, cause I need depth and rgb image in the same resolution.
I started the driver, my camera_info node and the crop_decimate nodelet, which subscribes fine, but does not generate the output topics.
Even if I subscribe to the topics, there are no Messages received.
Here is my launch file:
Is crop decimate corrupted?
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image_proc not working as expected
Hello everyone,
I'm trying to use `image_proc` to rectify my image, coming from a folder.
Here is my launch file:
("/camera/camera_info",1);
sensor_msgs::CameraInfo cfg;
XmlRpc::XmlRpcValue list;
int i;
cfg.header.frame_id = "camera";
double temp;
ros::param::get("/calibration/image_height", temp);
cfg.height = (uint)temp;
ros::param::get("/calibration/image_width", temp);
cfg.width = (uint)temp;
ros::param::get("/calibration/distortion_model", cfg.distortion_model);
ros::param::get("/calibration/distortion_coefficients/data", list);
cfg.D.clear();
for (i=0;i<5;i++) {
cfg.D.push_back((double)list[i]);
}
ros::param::get("/calibration/camera_matrix/data", list);
for (i=0;i<9;i++) {
cfg.K[i] = list[i];
}
ros::param::get("/calibration/rectification_matrix/data", list);
for (i=0;i<9;i++) {
cfg.R[i] = list[i];
}
ros::param::get("/calibration/projection_matrix/data", list);
for (i=0;i<12;i++) {
cfg.P[i] = list[i];
}
and later in the code:
sensor_msgs::ImagePtr msg = cv_bridge::CvImage(std_msgs::Header(), "bgr8", image).toImageMsg();
msg->header.stamp = ros::Time::now();
msg->header.frame_id = "camera";
pub_img_raw.publish(msg);
cfg.header.stamp = ros::Time::now();
pub_cfg.publish(cfg);
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depth_image_proc register issue
I'd like to use the depth_image_proc pipeline to create point cloud xyzrgb using a RGBD camera. I calibrated rgb and ir camera and used image_proc to rectify them. Now I would like to register depth image to the frame of the rgb camera. All input topics are up - depth image, depth camera info, rgb camera info and the required tf is also there. The topics depth_registered/camera_info and depth_registered/image_rect are generated, but they are empty.
The question is why?
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Point Grey Grasshopper3 Image looks all Green
I'm having an issue running ``camera.launch`` from the ``pointgrey_camera_driver`` package. When I launch try to view the color image ``/camera/image_color`` in either image_view or rviz the image looks all green. This is due to the published image advertising its encoding as ``bgr8`` when in reality it appears to be ``rgb8``. I wrote a quick republisher that just changes the encoding string to ``rgb8`` and everything shows up fine when I view the image in ``image_view``. What is going wrong here, and what do I need to change to get it working correctly?
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ROS / Point Grey Chameleon USB3 Cam / No Colour Images
Hello everyone,
I almost feel silly asking this, but I have sunken enough time into this now, and can't figure it out.
I have a USB3 Pt Grey Chameleon Camera, installed according to the ROS guide. Works fine, but by default it outputs a gray valued image. (It's a colour camera). Camera is plugged via an active USB3 5m extension cable into a USB3 port.
I cannot convince the camera to output a colour image.
I am on ROS Indigo on 64Bit Ubuntu 14.04.1
Steps taken so far:
$ sudo apt-get install ros-indigo-pointgrey-camera-driver
$ sudo cat /etc/udev/rules.d/99-pt-grey-chameleon.rules
SUBSYSTEM=="usb", ENV{DEVTYPE}=="usb_device",ATTRS{idVendor}=="1e10", MODE="0666"
$ rosrun pointgrey_camera_driver list_cameras
Number of cameras found: 1
[0]Serial: 15374833, Model: Chameleon3 CM3-U3-13S2C, Vendor: Point Grey Research, Sensor: Sony ICX445AL (1/3" 1296x964 CCD), Resolution: 1288x964, Color: false, Firmware Version: 1.2.3.1
Not sure why this says colour:false, it definitely is a colour camera: https://www.ptgrey.com/chameleon3-13-mp-color-usb3-vision
Launched rqt with image view, all works fine. Can change the params like fps successfully with rqt / dynreconfig.
Changing the video mode on the camera via RQT kills the camera and/or my entire machine.
The default running mode of the camera is Format7_Mode0. I tried changing it to Format2_Mode1 ("1280x960_bayer8") hoping that I would get a bayer image to the debayer it and end up with colour. Doing so freezes the camera though, and power cycling usually doesnt help.
Any ideas would be greatly appreciated, thanks!
Edit: I use the roslaunch command as given on the ROS wiki page, and the debayer nodelet is happily running and publishing a /color topic, which isn't there when debayer is not running. The /color topic visualized in RQT is still greyscale.
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ROI Error with Baxter camera feed
I receive a ROI error from image_proc when I subscribe to the Baxter robot camera image. The camera resolution is 640 x 400, and from camera_info the ROI is set to the same size.
The part of the launch file that invokes image_proc (Indigo) is:
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point_grey_camera driver not reading calibration file?
I have a point grey blackfly ethernet camera with a fisheye lens. I'm trying to use the point_grey_camera driver and image_proc to produce rectified images. I've been able to launch the example launch file, I can see images, i can see the color image produced by image_proc/debayer, I successfully performed camera calibration, everything was going pretty well. I point the launch file to my calibration yaml and it doesnt appear to be reading in the calibration data.
When i try "rostopic echo /camera/camera_info" nothing is displayed, it just hangs. I can echo other topics without issue. I confirmed my launch file is in the directory i'm pointing to and tried moving/renaming to no avail.
Seems like it should be so simple, I'm stumped. Has anyone else successfully produced rectified images with this driver? My launch file is below:
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Time synchronization when using multiple cameras with image_transport
Hello,
I am using multiple USB cameras for a project and am facing problems with time synchronization. I am currently using image_transport library's subscribeCamera function to subscribe to camera_info and image_rect_color published by image_proc. While one of my cameras is working fine, the second camera is dropping frames due to camera_info being published at a lower rate than the image messages. The following is the warning I am receiving:
[ WARN] [1467164006.770029982]: [image_transport] Topics '/usb_cam_2/image_rect_color' and '/usb_cam_2/camera_info' do not appear to be synchronized. In the last 10s:
Image messages received: 120
CameraInfo messages received: 94
Synchronized pairs: 6
I have seen a few related answers such as this one link: http://answers.ros.org/question/69925/sync-problem-on-image-and-camera_info-over-wireless/
but in my case one of the cameras is working fine with just subscribeCamera. I was wondering what the reason could be specially for the camera_info being published at a lower rate than the image messages and whether this is something that I can rectify without ApproximateTime message filters as suggested in the answer in the link.
Thanks in advance!
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Extract rectified images from bag file with image_raw
I have a bag file with the topics image_raw and camera_info from different cameras. By the time I recorded I had not calibrated the cameras. I have now calibrated the cameras and want to save a rectified image. The topics in the bag file are `/prosilica_2450/image_raw` and `/prosilica_2450/camera_info`.
Question: What changes do I need in the launch file to be able to save a rectified image?
I have the following launch file:
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Compiling ROS Kinetec from source fails when building image_proc
I'm using an Arch machine and trying to compile ROS desktop full from source. The build fails when image_proc is trying to link executable.
Here is the error log:
[ 23%] Built target image_proc_gencfg
[ 84%] Built target image_proc
[ 92%] Linking CXX executable /home/alphayed/ROS/ros_catkin_ws/devel_isolated/image_proc/lib/image_proc/image_proc
/home/alphayed/ROS/ros_catkin_ws/install_isolated/lib/libopencv_viz3.so.3.1.0: undefined reference to `vtkSTLReader::New()'
/home/alphayed/ROS/ros_catkin_ws/install_isolated/lib/libopencv_viz3.so.3.1.0: undefined reference to `vtkOBJReader::New()'
collect2: error: ld returned 1 exit status
make[2]: *** [CMakeFiles/image_proc_exe.dir/build.make:219: /home/alphayed/ROS/ros_catkin_ws/devel_isolated/image_proc/lib/image_proc/image_proc] Error 1
make[1]: *** [CMakeFiles/Makefile2:68: CMakeFiles/image_proc_exe.dir/all] Error 2
make: *** [Makefile:139: all] Error 2
I think the problem is related to opencv3. I removed it from the system and recompiled it from source but that didn't solve the issue. Can you please help?
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Why does stereo_image_proc use nodelets?
`image_proc` and `stereo_image_proc` both use nodelets in their design for each of the individual processing steps that they're doing (rectification, disparity, stereo etc.).
What are the advantages of doing it this way? Also, how is `stereo_image_proc` able to use the `image_rect` output if it is being made by another nodelet?
Thank you.
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image_proc vs image_raw
Hi, all!
I am quite misunderstood with playing image_view node and my mono camera. If I pass image_rect it shows very distorted image, whereas image_raw looks much better than image_proc.
If I calibrated camera, I will need to use image_rect topic messages, right? Not image_raw, yes?
Does it mean that my camera is not well enough calibrated?
When I run cameracheck.py it shows that my Reprojection RMS Error varies from 3 to 18 pixels. Is it bad?
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How to extract images from *.bag after image_proc?
I an trying to create pipe in .launch file in the following way:
1. Decompress image
2. Apply image_proc
3. Extract it
Contents of the .launch file is the following:
https://pastebin.com/8qtJLK2w
As a result, some files are saved after image_proc and some are not. My guess is that nodes work simultaneusly and sometimes extraction executes before applying image_proc. However, I am just a novice in ros.
Could you please help me to fix my launch file to archive my goal?
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