voxl_mpa_to_ros2 only publishes left stereo camera
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Hello, I am currently trying to use stereo cameras (m0015) within a custom ROS2 application using the voxl_mpa_to_ros2 (version 0.0.6) package on the VOXL2 (SDK 1.4.0), but I am only able to see left stereo camera when running the mpa to ros converter. Here is the output of ros2 topic list:
/imu_apps /parameter_events /rosout /stereo /stereo_disparity /stereo_disparity_scaled /stereo_pc /voa_pc_out /vvhub_aligned_vio /vvhub_body_wrt_fixed /vvhub_body_wrt_localAccording to the docs, I should expect something along the lines of
/stereo/leftand/stereo/right. Recording the topic/stereoand then playing it back confirms that only the left camera is being recorded. Here is the output of/etc/modalai/voxl-camera-server.conf, which was created by runningvoxl-configure-cameras 10{ "version": 0.1, "fsync_en": false, "fsync_gpio": 109, "cameras": [{ "type": "ov7251", "name": "stereo", "enabled": true, "camera_id": 0, "camera_id_second": 1, "independent_exposure": false, "fps": 30, "en_rotate": false, "en_rotate_second": false, "en_preview": true, "preview_width": 640, "preview_height": 480, "en_raw_preview": true, "ae_mode": "lme_msv", "gain_min": 54, "gain_max": 8000, "ae_desired_msv": 60, "exposure_min_us": 20, "exposure_max_us": 33000, "exposure_soft_min_us": 5000, "ae_filter_alpha": 0.600000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 1 }] }Both cameras are fully functional when viewing from the portal.
How can I get data from both of the cameras?
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Hello, I am currently trying to use stereo cameras (m0015) within a custom ROS2 application using the voxl_mpa_to_ros2 (version 0.0.6) package on the VOXL2 (SDK 1.4.0), but I am only able to see left stereo camera when running the mpa to ros converter. Here is the output of ros2 topic list:
/imu_apps /parameter_events /rosout /stereo /stereo_disparity /stereo_disparity_scaled /stereo_pc /voa_pc_out /vvhub_aligned_vio /vvhub_body_wrt_fixed /vvhub_body_wrt_localAccording to the docs, I should expect something along the lines of
/stereo/leftand/stereo/right. Recording the topic/stereoand then playing it back confirms that only the left camera is being recorded. Here is the output of/etc/modalai/voxl-camera-server.conf, which was created by runningvoxl-configure-cameras 10{ "version": 0.1, "fsync_en": false, "fsync_gpio": 109, "cameras": [{ "type": "ov7251", "name": "stereo", "enabled": true, "camera_id": 0, "camera_id_second": 1, "independent_exposure": false, "fps": 30, "en_rotate": false, "en_rotate_second": false, "en_preview": true, "preview_width": 640, "preview_height": 480, "en_raw_preview": true, "ae_mode": "lme_msv", "gain_min": 54, "gain_max": 8000, "ae_desired_msv": 60, "exposure_min_us": 20, "exposure_max_us": 33000, "exposure_soft_min_us": 5000, "ae_filter_alpha": 0.600000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 1 }] }Both cameras are fully functional when viewing from the portal.
How can I get data from both of the cameras?
Hi @cguzikowski,
I'm not getting that issue when I have them connected on separate ports, is that an option for you?
There might be a bug in mpa-to-ros2 when using COMBO_MODE, but I'll need more time to check that out.
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Hello, I am currently trying to use stereo cameras (m0015) within a custom ROS2 application using the voxl_mpa_to_ros2 (version 0.0.6) package on the VOXL2 (SDK 1.4.0), but I am only able to see left stereo camera when running the mpa to ros converter. Here is the output of ros2 topic list:
/imu_apps /parameter_events /rosout /stereo /stereo_disparity /stereo_disparity_scaled /stereo_pc /voa_pc_out /vvhub_aligned_vio /vvhub_body_wrt_fixed /vvhub_body_wrt_localAccording to the docs, I should expect something along the lines of
/stereo/leftand/stereo/right. Recording the topic/stereoand then playing it back confirms that only the left camera is being recorded. Here is the output of/etc/modalai/voxl-camera-server.conf, which was created by runningvoxl-configure-cameras 10{ "version": 0.1, "fsync_en": false, "fsync_gpio": 109, "cameras": [{ "type": "ov7251", "name": "stereo", "enabled": true, "camera_id": 0, "camera_id_second": 1, "independent_exposure": false, "fps": 30, "en_rotate": false, "en_rotate_second": false, "en_preview": true, "preview_width": 640, "preview_height": 480, "en_raw_preview": true, "ae_mode": "lme_msv", "gain_min": 54, "gain_max": 8000, "ae_desired_msv": 60, "exposure_min_us": 20, "exposure_max_us": 33000, "exposure_soft_min_us": 5000, "ae_filter_alpha": 0.600000023841858, "ae_ignore_fraction": 0.20000000298023224, "ae_slope": 0.05000000074505806, "ae_exposure_period": 1, "ae_gain_period": 1 }] }Both cameras are fully functional when viewing from the portal.
How can I get data from both of the cameras?
So there's no bug in mpa-to-ros2. I agree this is a little confusing so maybe we need to change it, but at the moment when you connect two cameras with COMBO_MODE the data shows up in the same pipe.
This means that the ROS topic "/stereo" will have both of the images stacked on top of each other, so for the time being you'll have to write some code to separate the two.
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So there's no bug in mpa-to-ros2. I agree this is a little confusing so maybe we need to change it, but at the moment when you connect two cameras with COMBO_MODE the data shows up in the same pipe.
This means that the ROS topic "/stereo" will have both of the images stacked on top of each other, so for the time being you'll have to write some code to separate the two.
@teddy-zaremba Unfortunately we can't connect them to separate ports. I recorded a bag on the topic "/stereo" and playing the bag back I only see one of the images. All messages are mono8 of size 480x640, so I don't see how they could be stacked on each other. Do I need to separate the images before recording?
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So there's no bug in mpa-to-ros2. I agree this is a little confusing so maybe we need to change it, but at the moment when you connect two cameras with COMBO_MODE the data shows up in the same pipe.
This means that the ROS topic "/stereo" will have both of the images stacked on top of each other, so for the time being you'll have to write some code to separate the two.
@teddy-zaremba Nevermind, I was able to separate the images by modifying the voxl-camera-server.conf file to treat each camera as separate and it seems to be working now
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