rtabmap error "Could not find any PointCloud dataset with id <cloudX>"
Hello together,
im trying to run rtabmap with a naneye stereo cam. The images are rectified and published. While using rtabmap in normal stereomapping mode the error Could not find any PointCloud dataset with id <cloudX>
for increasing X appears many times.
Im using the stereo_mapping.launch and only changed approximate sync and topic namespace. And kinetic full installation.
I tried different systems and reinstalled whole ubuntu and ros. Same error ocours again.
Thanks ahead!
Update:
Ros StereoCalibration was used for calibration. And Matlab determines nearly the same values. Only Tx is scaled in mm and Ty != 0 but small. stereo_image_proc is publishing a disparity image, but i can only recognize some edges. I tried to view the Pointcloud2 in rviz but the error: For frame [base_link]: Fixed Frame [map] does not exist
shows up. But while processing in Rtabmap Viewer a Point Cloud is shown.
camera_info:
left
header:
seq: 430
stamp:
secs: 372000180
nsecs: 0
frame_id: "base_link"
height: 250
width: 250
distortion_model: "plumb_bob"
D: [-0.35042452418723935, 0.12846856164772108, -0.001983681892138987, -0.0007020150618879638, 0.0]
K: [216.32097302957894, 0.0, 116.68934823674309, 0.0, 216.72959680793943, 117.49881486113006, 0.0, 0.0, 1.0]
R: [0.9961427784023481, -0.08753401450757768, 0.006112392415202644, 0.08753067792426865, 0.9961614936500219, 0.0008117826527036613, -0.006159988552602093, -0.00027362957528120994, 0.999980989653247]
P: [212.49235049334482, 0.0, 124.71735668182373, 0.0, 0.0, 212.49235049334482, 114.55551147460938, 0.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: False
right
header:
seq: 1316
stamp:
secs: 431303367
nsecs: 0
frame_id: "base_link"
height: 250
width: 250
distortion_model: "plumb_bob"
D: [-0.3571397802529545, 0.14349299686495984, 0.0007979733631606835, 0.000265477807614921, 0.0]
K: [217.01144313802783, 0.0, 116.14327950230813, 0.0, 217.53267767947415, 119.10319721480494, 0.0, 0.0, 1.0]
R: [0.9961499428754478, -0.08762582748298754, 0.0026468220876320063, 0.08762725374854638, 0.9961532420215907, -0.00042756328410479226, -0.0025991748170779505, 0.0006578508917368133, 0.9999964057547779]
P: [212.49235049334482, 0.0, 124.71735668182373, -263.97459304570816, 0.0, 212.49235049334482, 114.55551147460938, 48.0, 0.0, 0.0, 1.0, 0.0]
binning_x: 0
binning_y: 0
roi:
x_offset: 0
y_offset: 0
height: 0
width: 0
do_rectify: False
Update new Images: http://ibb.co/fEoXcx http://ibb.co/h7E5xx http://ibb.co/m1odKc
Bagfile with 100 massages of each Topic: