rtabmap+bumblebee.launch+stereo_mapping.launch

asked 2015-09-30 03:07:26 -0600

xiqing gravatar image

When I use my own camera Bumblebee2 and rtabmap_ros to do the experiment,there are something wrong.

  roslaunch rtabmap_ros bumblebee.launch
  roslaunch rtabmap_ros stereo_mapping.launch

After that there come to some error message:

  stereo_odometry: /home/exbot/catkin_ws/src/vision_opencv/image_geometry/src/stereo_camera_model.cpp:36: bool image_geometry::StereoCameraModel::fromCameraInfo(const CameraInfo&, const CameraInfo&): Assertion `left_.fx() == right_.fx()' failed.
  [rtabmap/stereo_odometry-1] process has died [pid 6917, exit code -6, cmd /home/exbot/catkin_ws/devel/lib/rtabmap_ros/stereo_odometry 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 __name:=stereo_odometry __log:=/home/exbot/.ros/log/a1274764-6729-11e5-a679-3ca9f4a1fe90/rtabmap-stereo_odometry-1.log].
log file: /home/exbot/.ros/log/a1274764-6729-11e5-a679-3ca9f4a1fe90/rtabmap-stereo_odometry-1*.log
  nodelet: /home/exbot/catkin_ws/src/vision_opencv/image_geometry/src/stereo_camera_model.cpp:36: bool image_geometry::StereoCameraModel::fromCameraInfo(const CameraInfo&, const CameraInfo&): Assertion `left_.fx() == right_.fx()' failed.
  [points_xyzrgb-4] process has died [pid 7138, exit code -6, cmd /opt/ros/indigo/lib/nodelet/nodelet standalone rtabmap_ros/point_cloud_xyzrgb left/image:=/stereo_camera/left/image_rect_color right/image:=/stereo_camera/right/image_rect left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info cloud:=voxel_cloud __name:=points_xyzrgb __log:=/home/exbot/.ros/log/a1274764-6729-11e5-a679-3ca9f4a1fe90/points_xyzrgb-4.log].
log file: /home/exbot/.ros/log/a1274764-6729-11e5-a679-3ca9f4a1fe90/points_xyzrgb-4*.log

Does anyone know why? Thank you very much for your reply!

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Comments

The camera_info messages are wrong. Is the camera calibrated? See this tutorial on stereo calibration.

matlabbe gravatar image matlabbe  ( 2015-09-30 08:17:12 -0600 )edit