error when using rtabmap + rs_rgbd.launch filters:=colorizer

asked 2020-01-12 23:04:06 -0500

june2473 gravatar image

updated 2020-01-14 01:58:45 -0500

I am using rtabmap with Intel Realsense D435 camera.

I was running rs_rgbd.launch from realsense2_camera package and it was working ok.

Now I am trying to run rs_rgbd.launch with flag filters:=colorizer.

And at the end of rtabmap launching I see error:

terminate called after throwing an instance of 'cv_bridge::Exception'
  what():  Image is wrongly formed: height * step != size  or  480 * 1280 != 921600

What can I do? Can I use rs_rgbd.launch with that flag filters:=colorizer?

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What can I do?

please don't post screenshots of terminals. Posting screenshots goes against the support guidelines.

It's all text. So copy-paste the contents of the console into your question, then format it using the Preformatted Text button (the one with 101010 on it).

I'll close your question for now. Fix the screenshot by editing your question (use the edit button/link for that) and then we can re-open it.

gvdhoorn gravatar image gvdhoorn  ( 2020-01-13 01:58:27 -0500 )edit

Based on the cv_bridge exception, the image is malformed. The step_size needs to be 720, not 480. Check where that 480 is set in realsense_camera.

matlabbe gravatar image matlabbe  ( 2020-01-13 09:58:34 -0500 )edit

okay.. i dont have that terminal though, just deleted it

june2473 gravatar image june2473  ( 2020-01-14 01:59:41 -0500 )edit

I've re-opened.

i dont have that terminal though

wouldn't retrying what you were doing before result in the same error?

gvdhoorn gravatar image gvdhoorn  ( 2020-01-14 05:17:26 -0500 )edit

I cant find any step_size in realsense2_camera launch files

june2473 gravatar image june2473  ( 2020-01-20 06:59:05 -0500 )edit

Try adding some logs just before the image is published in realsense node, and see if height * step != size condition works.

matlabbe gravatar image matlabbe  ( 2020-01-31 13:47:08 -0500 )edit