ROI Error with Baxter camera feed

asked 2016-05-13 19:48:18 -0600

Bernhard1 gravatar image

I receive a ROI error from image_proc when I subscribe to the Baxter robot camera image. The camera resolution is 640 x 400, and from camera_info the ROI is set to the same size.

The part of the launch file that invokes image_proc (Indigo) is:

<remap from="/cameras/right_hand_camera/image_raw" to="/cameras/right_hand_camera/image"/>

<node pkg="image_proc" type="image_proc" name="image_proc">
    <env name="ROS_NAMESPACE" value="/cameras/right_hand_camera"/>
</node>

The error goes like this: OpenCV Error: Assertion failed (0 <= roi.x && 0 <= roi.width && roi.x + roi.widt h <= m.cols && 0 <= roi.y && 0 <= roi.height && roi.y + roi.height <= m.rows) ...

The ROI issue from a previous ROS image_pipeline post (issue 55) implies that the problem may be that Baxter publishes already rectified camera data with a smaller than 640 x 400 size window, which the error seems to confirm.

To resolve this issue, should I: 1. Republish the camera_info message from Baxter with ROI set to 0,0 for image-proc, OR 2. Tackle Rethink robotics and have them modify their camera_info, OR 3. Some other course of action

Comments welcome.

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