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1 | initial version |
The reason for the failure was due to streaming the images in resolution of 384x240, but using a camera_info .yaml file that was based on a different resolution (640x400).
This caused a mismatch between the images size of 3d_z_coords and rectified_right depth/image (both are 384x240) and camera_info (640x400)
This results in the following error message, when running the launch file:
[FATAL] (2019-08-16 14:21:54.219) util3d.cpp:446::cloudFromDepthRGB() Condition ((model.imageHeight() == 0 && model.imageWidth() == 0) || (model.imageHeight() == imageRgb.rows && model.imageWidth() == imageRgb.cols)) not met! [model=640x400 rgb=384x240]
terminate called after throwing an instance of 'UException'
what(): [FATAL] (2019-08-16 14:21:54.219) util3d.cpp:446::cloudFromDepthRGB() Condition ((model.imageHeight() == 0 && model.imageWidth() == 0) || (model.imageHeight() == imageRgb.rows && model.imageWidth() == imageRgb.cols)) not met! [model=640x400 rgb=384x240]
[rtabmap/rtabmap-5] process has died [pid 8562, exit code -6, cmd /opt/ros/melodic/lib/rtabmap_ros/rtabmap --delete_db_on_start rgb/image:=/rm_mapping_node/cameras/stern/rectified_right depth/image:=/rm_mapping_node/cameras/stern/3d_z_coords rgb/camera_info:=/rm_mapping_node/cameras/stern/right/camera_info rgbd_image:=rgbd_image left/image_rect:=/stereo_camera/left/image_rect_color right/image_rect:=/stereo_camera/right/image_rect left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info scan:=/scan scan_cloud:=/scan_cloud user_data:=/user_data user_data_async:=/user_data_async odom:=odom __name:=rtabmap __log:=/home/avnerm/.ros/log/71f75a64-c063-11e9-b1ee-74d02b912ce1/rtabmap-rtabmap-5.log].
After changing the resolution of streamed images to 640x400 the topic /rtabmap/mapData does publish data, and Rviz does show the accumulated cloud (the quality is not good but this is unrelated issue)
2 | No.2 Revision |
The reason for the failure was due to streaming the images in resolution of 384x240, but using a camera_info .yaml file that was based on a different resolution (640x400).
This caused a mismatch between the images size of 3d_z_coords and rectified_right depth/image (both are 384x240) and camera_info (640x400)
This results in (640x400), which caused the following error message, when running the launch file:
[FATAL] (2019-08-16 14:21:54.219) util3d.cpp:446::cloudFromDepthRGB() Condition ((model.imageHeight() == 0 && model.imageWidth() == 0) || (model.imageHeight() == imageRgb.rows && model.imageWidth() == imageRgb.cols)) not met! [model=640x400 rgb=384x240]
terminate called after throwing an instance of 'UException'
what(): [FATAL] (2019-08-16 14:21:54.219) util3d.cpp:446::cloudFromDepthRGB() Condition ((model.imageHeight() == 0 && model.imageWidth() == 0) || (model.imageHeight() == imageRgb.rows && model.imageWidth() == imageRgb.cols)) not met! [model=640x400 rgb=384x240]
[rtabmap/rtabmap-5] process has died [pid 8562, exit code -6, cmd /opt/ros/melodic/lib/rtabmap_ros/rtabmap --delete_db_on_start rgb/image:=/rm_mapping_node/cameras/stern/rectified_right depth/image:=/rm_mapping_node/cameras/stern/3d_z_coords rgb/camera_info:=/rm_mapping_node/cameras/stern/right/camera_info rgbd_image:=rgbd_image left/image_rect:=/stereo_camera/left/image_rect_color right/image_rect:=/stereo_camera/right/image_rect left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info scan:=/scan scan_cloud:=/scan_cloud user_data:=/user_data user_data_async:=/user_data_async odom:=odom __name:=rtabmap __log:=/home/avnerm/.ros/log/71f75a64-c063-11e9-b1ee-74d02b912ce1/rtabmap-rtabmap-5.log].
After changing the resolution of streamed images to 640x400 the topic /rtabmap/mapData does publish data, and Rviz does show the accumulated cloud (the quality is not good but this is unrelated issue)