Problem with rgbdslam and QVGA resolution

asked 2013-04-28 01:01:49 -0500

Alex2309
163 ●5 ●11 ●17

updated 2014-01-28 17:16:22 -0500

ngrennan
1 ●1 ●1

Hi, I'm trying to run rgbdslam with the openni_launch packet setted to qvga via dynamic reconfigure, but when I try I get the following error:

[ERROR] [1367146343.993708402]: PointCloud, depth and visual image differ in size! Ignoring Data

If I try to visualize the rgbdcloud from the openni driver in rviz instead I get this error message:

Error updating depth cloud: Depth image size and camera info don't match: 320 x 240 vs 640 x 480(binning: 1 x 1, ROI size: 640 x 480)

So the problems seems to be the published camera info. In fact, it works just fine with vga 30hz or 25hz modality. What I have done is only setting the image_mode and depth_mode parameter to QVGA(30hz) via dynamic reconfigure, am i supposed to do something else?

I'm currently using an asus xtion pro live with rosgroovy on ubuntu 12.10.

Any advice is welcome! Thank you in advance.

answered 2013-04-28 22:12:54 -0500

Felix Endres

6468 ●28 ●57 ●93 http://www.informatik....

updated 2013-04-30 04:04:19 -0500

Hi Alex, I've played around with QVGA and also had the problem with the wrong camera info. I think I included some hack to workaround this, but the support for qvga resolution in rgbdslam may be a bit brittle and require fiddling with the settings as I didn't test it much. I am interested in the related bug reports though.

Anyway, the first error you get is because you do not change both images (rgb+depth) to qvga, but just one of them.

Edit:

I checked and I don't get that error. However, I do have problems changing to qvga while everything runs, so I start roslaunch openni_launch openni.launch, then use dynamic reconfigure to switch rgb and depth to QVGA. Then I start rgbdslam (without openni).

Edit2: I've checked in a workaround for the camera_info problem. Have a look at the new launchfile "qvga-kinect+rgbdslam.launch", it should work "out of the box".

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Hi, thank you for the reply. So right now there's no way to use lower resolution for the slam process?

For the first error i setted both image_mode and depth_mode to the same resolution, but i get the same error anyway

Edit: thank you with the new lauchfile works just fine!!

Alex2309 ( 2013-04-28 23:05:33 -0500 )edit

You're welcome. Interestingly I noticed that for qvga surf is faster than siftgpu. Might depend on the graphics card and driver though.

Felix Endres ( 2013-05-01 02:08:43 -0500 )edit

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