l0g1x/DUO-Camera-ROS

Chatroom for the DUO Camera ROS Driver. Here is the place to get quick help and responses.

gitunit

@gitunit

and i guess this is how it's done in openCV: http://opencv.jp/opencv-2svn_org/c/_images/math/dbe76ed3ef28b501c3933a74618c2c94889d38fa.png

Krystian Gebis

@l0g1x

nice

gitunit

@gitunit

this is interesting: http://www.ros.org/reps/rep-0104.html#alternate-distortion-models

i guess it should be possible since this (http://docs.carnegierobotics.com/SL/api.html) driver's docu says that the rational model is supported in ROS:

gitunit

@gitunit

and this looks very helpful: https://bitbucket.org/crl/multisense_ros/src/f15aa9bc51e6cf7362b6f22deaab6162ce2342f5/multisense_ros/src/camera.cpp?at=default

Krystian Gebis

@l0g1x

okay looking into it

gitunit

@gitunit

ok, that's it for today. let me know if you have something new from duo. read ya!

gitunit

@gitunit

helly krystian, did you get a response frome DUO?

gitunit

@gitunit

ok, i have informations regarding the intrinsics values. Sai was correct above. also it's the pinhole distortion model with 6 distortion coefficients. let's see if we can make this run ...

Krystian Gebis

@l0g1x

alright great. if you get it to work can you pr it? im tied up right now

gitunit

@gitunit

ok, i will see when i get to it, also have other priorities right now. however i will look into it right away for some minutes ;)

Krystian Gebis

@l0g1x

cool thanks

gitunit

@gitunit

ok, i've filled all the parameters for the camerainfo msg, except the P matrix which is the projection matrix. not sure how i would calculate this for stereo yet. there is an openCV function that would do that for me, but i would rather do it without openCV

gitunit

@gitunit

i tried it with openCV (with a method called "stereorectify") but i get assertion error when using image_proc

Krystian Gebis

@l0g1x

Just messaged DUO again, as they still havent gotten back to me. Also, I believe theres a bug that i didnt catch about not being able to load the old ros calibration files that @gitunit sent me a while back. Not sure what the deal is, but got a email from a user with the logs

duo3d_ros-output.txt

@gitunit can you check if this error occurs for you as well?

gitunit

@gitunit

im in contact with DUO myself. they will provide some api changes to finish the correct loading of calibration info from device. currently i have a workaround but cant release the code since its very dirty as soon as i've cleaned it up, i will make a pull request. regarding the logs it is due to the current version, obviously it tries to load the on-device calibration but there is none because there is no checking before if there actually is a calibration on device. but if the user wants to use the old calibration files, just set the "use_DUO_calibration" to false. that should do it currently.

gitunit

@gitunit

however my calibration files aren't that well, so the usage of those would be (at least for stereo stuff) useless. however rectified images are possible ..

Krystian Gebis

@l0g1x

awesome thanks

gitunit

@gitunit

hi l0g1x, just letting you know that i have a working driver with onDeviceCalibration usage for sdk version 1.4x and will soon update to the latest. just in case you are also working on it ..

cheers

btw, i didn't release the driver for 1.4x as DUO still hadn't resolve some issues (rotated pointcloud etc.)

Krystian Gebis

@l0g1x

hey, i actually just pushed code from someones fork that does the same. A guy from carnegie mellon has been emailing me and it seems like it is working for him. Feel free to pull request your though

gitunit

@gitunit

i will look into it and will probably push my stuff as soon as im up to date with the latest sdk. i also did some reconfigure stuff .. only missing is IMU. does it work with the code from the guy from carnegie mellon?

Krystian Gebis

@l0g1x

i believe he said it does however the dense3d lib crashes for him

i havent had a chance to test it out myself

gitunit

@gitunit

in my version the dense3d worked flawlessly but as mentioned earlier it was rotated by 45 degrees (same in the duo dash)

the latest duo driver should have fixed that issue but the api changed therefore i need some adjustments to benefit from the latest driver version

Krystian Gebis

@l0g1x

okay if you could pull request it when your done ill merge it

gitunit

@gitunit

im moving my flat, so please dont expect anything earlier than 2-3 weeks from now

Krystian Gebis

@l0g1x

no problem, im tied up with competitions and school as well

gitunit

@gitunit

i have to go now. bye and see/read you soon

Legendaire

@Legendaire

I am trying to find a place to ask installation questions for ROS. Does anyone know where I should go?

Somik Ghosh

@ghoshsomik

Hey guys, I'm trying to take an openCV mat image and then convert it to a ros message. I'm using cv_bridge. An interesting thing I keep seeing is after I call " msg = cv_bridge::CvImage(header, "mono8", mat_image).toImageMsg();" if I call imshow, the image appears blank. if I call imshow right before it, i see the image. Why is that? Shouldnt this function not modify my mat image?

Maggie Oates

@moates

If anyone else was having config problems. FYI as of February DUO updated their SDK to make reading factory configuration data easier & directly compatible with OpenCV (and the ROS camera_info message) (https://duo3d.com/forums/viewthread/114/)

Krystian Gebis

@l0g1x

There is a downstream fork that seems to grab the calibration parameters from the DUO, its not merged into upstream as i currently dont have access to a camera myself to build it. if someone could put in a pull request that would be great

Maggie Oates

@moates

sure, i will in the next week or two. i'm new to git so please let me know if i break something when i do!

Krystian Gebis

@l0g1x

np!

Maggie Oates

@moates

So I'm just now getting back to working on that pull request! I realized today I didn't bother to add any handling to check for which SDK version yet, so it'll still be a little more work. But will do before the end of August

Krystian Gebis

@l0g1x

@moates awesome thank you!

Legendaire

@Legendaire

Since this is a robotics centered project I am going to try and ask here. I've been looking for a day now for a program which will stream video and add text. ffmpeg will add the text but I want the text to change. The text will have telemetry data from the sensors on my robot hense it needs to be dynamic. Think of it just like a heads up display. This would seem so common that there should be ready made stuff for it. Does anyone know where to look?

Julien

@LiohAu

@Legendaire github?

Jacob Falck

@jjfalck957

Doesn't seem like this is very active anymore? Is there a DUO slack or any other message app for duo?

Sayem Shahrier

@sshahrier

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