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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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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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Comments

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 imageDonaldV ( 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 imageFelix Endres ( 2013-02-07 04:26:08 -0600 )edit

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

Seen: 115 times

Last updated: Feb 07 '13