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cloud_tpc empty in OpenNI listener in RGBDSLAM

asked 2013-02-06 10:15:50 -0600

DonaldV gravatar image

updated 2016-10-24 08:34:32 -0600

ngrennan gravatar image

Hello, I was stepping through the RGBDSLAM code, and I found that even though I have a Kinect connected to my PC, noCloudCallback() is called instead of kinectCallback() because the cloud_tpc string is always empty.

ParameterServer* params = ParameterServer::instance();
std::string cloud_tpc = params->get<std::string>("topic_points");
//All information from Kinect
if(!visua_tpc.empty() && !depth_tpc.empty() && !cloud_tpc.empty())
    kinect_sync_->registerCallback(boost::bind(&OpenNIListener::kinectCallback, this, _1, _2, _3));
//No cloud, but visual image and depth
else if(!visua_tpc.empty() && !depth_tpc.empty() && !cinfo_tpc.empty() && cloud_tpc.empty())
    no_cloud_sync_->registerCallback(boost::bind(&OpenNIListener::noCloudCallback, this, _1, _2, _3));

Can anyone help me understand why this is the case and why I have to do to call the kinectCallback()?

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1 Answer

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answered 2013-02-07 01:30:44 -0600

You need to set the corresponding parameter in the launch file, e.g:

<param name="config/topic_points" value="/camera/depth_registered/points"/>
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Can you please specify which launch file? Do you mean the openni launch file? I am running RGBDSLAM like this roslaunch openni_launch openni.launch rosrun rgbdslam rgbdslam

DonaldV gravatar image DonaldV  ( 2013-02-07 04:06:35 -0600 )edit

just running rgbdslam with rosrun will use the default parameters. You best use a launchfile e.g. rgbdslam/launch/rgbdslam.launch and modify the parameters to your needs (add the line in my answer, if not already contained). then launch it as "roslaunch rgbdslam rgbdslam.launch"

Felix Endres gravatar image Felix Endres  ( 2013-02-07 04:26:08 -0600 )edit

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Asked: 2013-02-06 10:15:50 -0600

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Last updated: Feb 07 '13