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Cannot rosbag record -a from electric openni

asked 2011-08-20 14:29:13 -0500

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OpenNI starts up fine, and I can use rviz, etc., but when I want to save the bags out -- OpenNI's stack dies..

First all starts ok -- but dies complaining about IR and RGB. roslaunch openni_launch openni.launch

(in another window)

rosbag record -b 2048 -O test.bag -a

When I -x out "/camera/ir(.*)" -- it dies still with an even more obscure error...

BTW -- 2.6.35-28-generic #50-Ubuntu SMP Fri Mar 18 18:42:20 UTC 2011 x86_64 GNU/Linux

NOTE -- lots of info

[ INFO] [1313893203.118028525]: Number devices connected: 1
[ INFO] [1313893203.118184242]: 1. device on bus 001:14 is a Xbox NUI Camera (2ae) from Microsoft (45e) with serial id 'B00364611855051B'
[ INFO] [1313893203.119212409]: Searching for device with index = 1
[ INFO] [1313893203.169810408]: Opened 'Xbox NUI Camera' on bus 1:14 with serial number 'B00364611855051B'
[ INFO] [1313893203.204956990]: rgb_frame_id = '/camera_rgb_optical_frame' 
[ INFO] [1313893203.204992411]: depth_frame_id = '/camera_depth_optical_frame' 
[ INFO] [1313893203.207416573]: using default calibration URL
[ INFO] [1313893203.207466453]: camera calibration URL: file:///home/markc/.ros/camera_info/rgb_B00364611855051B.yaml
[ERROR] [1313893203.207554999]: Unable to open camera calibration file [/home/markc/.ros/camera_info/rgb_B00364611855051B.yaml]
[ WARN] [1313893203.207588545]: Camera calibration file /home/markc/.ros/camera_info/rgb_B00364611855051B.yaml not found.
[ INFO] [1313893203.208563311]: using default calibration URL
[ INFO] [1313893203.208590715]: camera calibration URL: file:///home/markc/.ros/camera_info/depth_B00364611855051B.yaml
[ERROR] [1313893203.208615349]: Unable to open camera calibration file [/home/markc/.ros/camera_info/depth_B00364611855051B.yaml]
[ WARN] [1313893203.208634926]: Camera calibration file /home/markc/.ros/camera_info/depth_B00364611855051B.yaml not found.
[ WARN] [1313893203.209323348]: Using default parameters for RGB camera calibration.
[ WARN] [1313893203.209348312]: Using default parameters for IR camera calibration.
[ERROR] [1313893203.667063017]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/compressed/set_parameters]
[ERROR] [1313893203.673611007]: Tried to advertise a service that is already advertised in this node [/camera/depth_registered/image_rect_raw/theora/set_parameters]
[ERROR] [1313893219.381133111]: Cannot stream RGB and IR at the same time. Streaming RGB only.
[ERROR] [1313893219.381449652]: Cannot stream RGB and IR at the same time. Streaming RGB only.
[ERROR] [1313893219.381575808]: Cannot stream RGB and IR at the same time. Streaming RGB only.
[ERROR] [1313893219.381847566]: Cannot stream RGB and IR at the same time. Streaming RGB only.
OpenCV Error: Image step is wrong () in cvInitMatHeader, file /tmp/buildd/libopencv-2.3.1+svn6514+branch23/modules/core/src/array.cpp, line 162
[ERROR] [1313893219.381938778]: Cannot stream RGB and IR at the same time. Streaming RGB only.
[ERROR] [1313893219.382660492]: Cannot stream RGB and IR at the same time. Streaming RGB only.
[ERROR] [1313893219.382995474]: Cannot stream RGB and IR at the same time. Streaming RGB only.
[ERROR] [1313893219.383094324]: Cannot stream RGB and IR at the same time. Streaming RGB only.
[ERROR] [1313893219.383176384]: Cannot stream RGB and IR at the same time. Streaming RGB only.
[ERROR] [1313893219.383251578]: Cannot stream RGB and IR at the same time. Streaming RGB only.
[ERROR] [1313893219.383335205]: Cannot stream RGB and IR at the same time. Streaming RGB only.
[ERROR] [1313893219.383411773]: Cannot stream RGB ...
(more)
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answered 2011-08-21 08:57:50 -0500

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This post is a wiki. Anyone with karma >75 is welcome to improve it.

Cannot stream RGB and IR at the same time

This explains why -a doesn't work; you can't subscribe to both the IR and RGB camera streams at the same time. This is a limitation of the driver; see this question for details about the driver. Also, take a look at sglaser's answer to this question for why rosbag -a with a Kinect is a Very Bad Idea.

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Comments

I'll give openni_camera_unstable a go, that looks ideal. I could never get a -x (exclude) formulated that would please electric. Cheers, MarkC
weaponeer gravatar image weaponeer  ( 2011-08-21 14:22:19 -0500 )edit
If this solves your problem, please accept the answer (karma!).
Mac gravatar image Mac  ( 2011-08-22 08:50:11 -0500 )edit

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Asked: 2011-08-20 14:29:13 -0500

Seen: 678 times

Last updated: Aug 21 '11