RGBDSLAMv2 not displaying image from Kinect2_bridge [closed]

asked 2018-03-15 16:56:51 -0600

skynet gravatar image

updated 2018-03-16 14:01:29 -0600

I am running ROS kinetic on Ubuntu 16.04 on an intel NUC. I'm trying to generate 3D point clouds with a kinect one (v2) using RGBDSLAM_v2. I have installed libfreenect2 and installed rgbdslam from the install.sh script which seems to work fine. roslaunch kinect2_bridge kinect2_bridge.launchstarts fine and begins publishing its topics when roslaunch rgbdslam rgbdslam.launch is executed in a separate terminal. I changed the launch file's parameters to subscribe to the appropriate topics from kinect2_bridge but the GUI for rgbdslam does not display anything.

 <!-- Input data settings-->
<param name="config/topic_image_mono"     value="/kinect2/qhd/image_color"/> 
<param name="config/topic_image_depth"     value="/kinect2/qhd/image_depth_rect"/>
<param name="config/topic_points"               value=""/> <!--if empty, poincloud will be reconstructed from image and depth -->

It says waiting for visual image on topic "/kinect2/qwaitinge_color" wairing for depth image on topic "/kinect2/qhd/image_depth_rect" and waiting for feature image... Both of these topics are publishing data so I am unsure how to proceed from here.

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Closed for the following reason duplicate question by skynet
close date 2018-03-23 18:40:04.847701

Comments

turns out it is a parameter issue I followed an earlier post I cannot remember the url but this is the launch file I am using.

<launch>
<node pkg="rgbdslam" type="rgbdslam" name="rgbdslam" cwd="node" required="true" output="screen">
<!-- Input data settings-->
<param name="config/topic_image_mono"              value="/kinect2/qhd/image_color_rect"/>
<param name="config/camera_info_topic"             value="/kinect2/qhd/camera_info"/>

<param name="config/topic_image_depth"             value="/kinect2/qhd/image_depth_rect"/>

<param name="config/topic_points"                  value=""/> <!--if empty, poincloud will be reconstructed from image and depth -->

<!-- These are the default values of some important parameters -->
<param name="config/feature_extractor_type"        value="SIFTGPU"/><!-- also available: SIFT, SIFTGPU, SURF, SURF128 (extended SURF), ORB. -->
<param name="config/feature_detector_type"         value="SIFTGPU"/><!-- also available: SIFT, SURF, GFTT (good features to track), ORB. -->
<param name="config/detector_grid_resolution"      value="3"/><!-- detect on a 3x3 grid (to spread ORB keypoints and parallelize SIFT and SURF) -->

<param name="config/optimizer_skip_step"           value="15"/><!-- optimize only ...
(more)
skynet gravatar image skynet  ( 2018-03-17 14:11:40 -0600 )edit