demo_two_kinects.launch dumped

[Severn]

Hi everyone,
I'm trying to use demo_two_kinects.launch and slightly change the second camera orientation to 90 degrees in counterclockwise. I find that the visualization module can't keep stable in 10 seconds, either by rtabmapviz or rviz. However the proj_map is published stably and can be visualized in rviz.
And here's the fatal error:
[FATAL] (2016-11-23 20:57:45.144) util3d.cpp:370::cloudFromDepthRGB() Condition ((model.imageHeight() == 0 && model.imageWidth() == 0) || (model.imageHeight() == imageRgb.rows && model.imageWidth() == imageRgb.cols)) not met!
If you have any idea about the error, pls post it! Thank you in advance!

[matlabbe]

Hi,

I cannot see which version of rtabmap you are using (the screenshots are too small). Which version are you using? Line 370 of util3d doesn't match the one of master branch. I don't think changing camera orientation created the bug, it should have be there before too.

cheers

[Severn]

Hi Mathieu,
I'm using ROS indigo with Ubuntu 14.04, demo_two_kinects.launch is the newest version in 4 month ago.
Here's the pictures in github link, with higher definition: https://github.com/introlab/rtabmap_ros/issues/134
Could you tell me the method to insert a picture into the forum post with higher definition? Thank you.
Here's the launch file: https://docs.google.com/document/d/1Jqf2vHdrV4lgzu6K3KGrsjXURzBV44Bh69fl-ltdGzo/edit?usp=sharing

[Severn]

I try to use the original file and definite the transform by myself, using the openni launch file.
Here's the result: https://www.youtube.com/watch?v=ubL4PyqNIPI&feature=youtu.be
Thank you in advance!

[matlabbe]

Normally, if you click on "Insert Image", the default parameters should be no resizing:


cheers