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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)

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)