RGBD Mapping issue
Posted by
Dalalos on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGBD-Mapping-issue-tp4073.html
Hello all,
I'm new to ROS and SLAM and I'm trying to implement 3D mapping using rtabmap and realsense r200 camera.
The two launch files I'm using (attached) are:
realsense_r200_nodelet_standalone_manual.launch
rtabmap.launch
Now I'm in a point that I can see all the images from the camera, I can see all the axes and their transformation and I also can see a different point-clouds with the right 3D location.
The problem is that I cant see a map (no map received). rtabmap/rtabmap fails every time I'm running the launch file.
I think it something to do with the resolution of the camera because it's demanding me to use the same resolution for the color and depth image and when I do it's fails with opencv error in reasize.cpp file.
Different resolution:
[FATAL] [1514359403.865104643]: ASSERTION FAILED
file = /home/gal/catkin_ws/src/rtabmap_ros/src/nodelets/point_cloud_xyzrgb.cpp
line = 238
cond = imageDepthPtr->image.cols == imagePtr->image.cols
[points_xyzrgb-5] process has died
[FATAL] (2017-12-27 09:24:34.764) CoreWrapper.cpp:870::commonDepthCallback() Condition (depthMsgs[i]->width == imageWidth && depthMsgs[i]->height == imageHeight) not met! [imageWidth=640 vs 480 imageHeight=480 vs 360]a
terminate called after throwing an instance of 'UException'
what(): [FATAL] (2017-12-27 09:24:34.764) CoreWrapper.cpp:870::commonDepthCallback() Condition (depthMsgs[i]->width == imageWidth && depthMsgs[i]->height == imageHeight) not met! [imageWidth=640 vs 480 imageHeight=480 vs 360]
[rtabmap/rtabmap-3] process has died [pid 8715, exit code -6, cmd /home/gal/catkin_ws/devel/lib/rtabmap_ros/rtabmap --delete_db_on_start rgb/image:=/camera/color/image_raw depth/image:=/camera/depth/image_raw rgb/camera_info:=/camera/color/camera_info scan:=/scan scan_cloud:=/scan_cloud __name:=rtabmap __log:=/home/gal/.ros/log/df1514f0-ead2-11e7-9fc2-001e06302d57/rtabmap-rtabmap-3.log].
Same resolution:
/rtabmap/rtabmap subscribed to (approx sync):
/camera/color/image_raw,
/camera/depth/image_raw,
/camera/color/camera_info,
/rtabmap/odom
[ INFO] [1514359767.896568156]: rtabmap 0.11.8 started...
[ INFO] [1514359768.020182663]: Odom: quality=141, std dev=0.007423m, update time=0.056269s
[ INFO] [1514359768.147217906]: Odom: quality=150, std dev=0.006155m, update time=0.064382s
OpenCV Error: Bad argument (Unknown interpolation method) in resize, file /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/imgproc/src/resize.cpp, line 3164
terminate called after throwing an instance of 'cv::Exception'
what(): /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/imgproc/src/resize.cpp:3164: error: (-5) Unknown interpolation method in function resize
[ INFO] [1514359768.262800384]: Odom: quality=172, std dev=0.007795m, update time=0.066269s
[ INFO] [1514359768.352276111]: Odom: quality=174, std dev=0.007170m, update time=0.051930s
[ INFO] [1514359768.484443269]: Odom: quality=159, std dev=0.007719m, update time=0.074119s
[rtabmap/rtabmap-3] process has died [pid 8862, exit code -6, cmd /home/gal/catkin_ws/devel/lib/rtabmap_ros/rtabmap --delete_db_on_start rgb/image:=/camera/color/image_raw depth/image:=/camera/depth/image_raw rgb/camera_info:=/camera/color/camera_info scan:=/scan scan_cloud:=/scan_cloud __name:=rtabmap __log:=/home/gal/.ros/log/78b0e0fe-ead7-11e7-90c6-001e06302d57/rtabmap-rtabmap-3.log].
log file: /home/gal/.ros/log/78b0e0fe-ead7-11e7-90c6-001e06302d57/rtabmap-rtabmap-3*.log
What am I doing wrong? I can really use your help in solving this,
Thanks, Gal.
rtabmap1.launchrealsense_r200_nodelet_standalone_manual.launch