RGBDSLAM Headless, Error: Input point cloud has no data!
System description: Ubuntu 11.10, 64-bit, ROS Fuerte, RGBDSLAM installed/compiled, openni_camera/openni_launch installed
My goal right now is to generate a point cloud via a robot, running RGBDSLAM in headless mode, so that I can offload the *.pcd files to a remote server for additional CV processing.
I am able to run RGBDSLAM and initialise/start/pause the capture process, using the commands described here:
ros.org/wiki/rgbdslam#USAGE_without_GUI
In fact, my problem is identical to the one described in the following thread:
answers.ros.org/question/12886/problem-capturing-rgbdslam-pointcloud-data-in-headless-mode/
When I finally attempt to save the point cloud that I thought I was capturing, I receive the following output:
[ INFO] [1360639708.445177201]: Pause toggled to: false Qt Concurrent has caught an exception thrown from a worker thread. This is not supported, exceptions thrown in worker threads must be caught before control returns to Qt Concurrent. terminate called after throwing an instance of 'pcl::IOException' what(): [pcl::PCDWriter::writeBinary] Input point cloud has no data! ================================================================================REQUIRED process [rgbdslam-2] has died! process has died [pid 31838, exit code -6, cmd /home/magnate/ros/rgbdslam_freiburg/rgbdslam/bin/rgbdslam __name:=rgbdslam __log:=/home/magnate/.ros/log/1e2990da-74a4-11e2-9f9c-4ce676913015/rgbdslam-2.log]. log file: /home/magnate/.ros/log/1e2990da-74a4-11e2-9f9c-4ce676913015/rgbdslam-2*.log
I started this thread because I am still experiencing this issue even after I hardcode the store_pointclouds directive to true in my rgbdslam/launch/headless.launch file (answer #1) and make sure that the openni driver is running before I engage RGBDSLAM-headless (answer #2) ... and because I'm unable to comment on that other thread right now..
I have also tried adapting the published camera data topics in my openni launch file and the headless.launch file, as suggested here
answers.ros.org/question/31690/rgbdslam-gui-not-getting-data-from-kinect/
And I successfully enable default registration of depth and color, via dynamic_reconfigure, as suggested here:
answers.ros.org/question/11939/activating-openni-depth-registration-by-default/
Regardless of what I try, however, I am still unable to save point clouds. If anyone has any suggestions, I'd love to hear them!
