Re: RGBD Mapping issue
Posted by Dalalos on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGBD-Mapping-issue-tp4073p4085.html
I forgot to change queue_size to 60, now it won't stuck but it fails like my first message:
[ WARN] [1514624113.106971809]: rtabmapviz: Could not get transform from odom to camera_link after 1.000000 seconds (for stamp=1514624111.489696)!
[ INFO] [1514624113.298395708]: Odom: quality=60, std dev=0.129099m, update time=0.028214s
[ INFO] [1514624113.612110067]: Odom: quality=57, std dev=0.132453m, update time=0.031802s
[ INFO] [1514624113.930270548]: Odom: quality=64, std dev=0.125000m, update time=0.030742s
[ INFO] [1514624114.253325916]: Odom: quality=63, std dev=0.125988m, update time=0.026296s
[ INFO] [1514624114.659521177]: Odom: quality=70, std dev=0.119523m, update time=0.029966s
[ WARN] [1514624114.687310421]: rtabmapviz: Could not get transform from odom to camera_link after 1.000000 seconds (for stamp=1514624112.803140)!
[ INFO] [1514624115.143475180]: Odom: quality=70, std dev=0.119523m, update time=0.035584s
[ INFO] [1514624115.339404334]:
/rtabmap/rtabmap subscribed to (approx sync):
/camera/rgb/image_rect_color,
/camera/depth_registered/sw_registered/image_rect_raw,
/camera/rgb/camera_info,
/rtabmap/odom
[ INFO] [1514624115.339556349]: rtabmap 0.11.8 started...
[ INFO] [1514624115.600067094]: Odom: quality=60, std dev=0.129099m, update time=0.025757s
[ WARN] [1514624115.699898795]: rtabmapviz: Could not get transform from odom to camera_link after 1.000000 seconds (for stamp=1514624113.122915)!
[ INFO] [1514624116.076388202]: Odom: quality=66, std dev=0.123091m, update time=0.029299s
[ INFO] [1514624116.555891944]: Odom: quality=62, std dev=0.127000m, update time=0.038612s
[ WARN] [1514624116.724258233]: rtabmapviz: Could not get transform from odom to camera_link after 1.000000 seconds (for stamp=1514624114.934681)!
[ INFO] [1514624117.031532117]: Odom: quality=75, std dev=0.115470m, update time=0.037920s
[ WARN] [1514624117.083361576]: rtabmap: Could not get transform from odom to camera_link after 1.000000 seconds (for stamp=1514624114.934681)!
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
[rtabmap/rtabmap-2] process has died [pid 13889, exit code -6, cmd /home/gal/catkin_ws/devel/lib/rtabmap_ros/rtabmap rgb/image:=/camera/rgb/image_rect_color depth/image:=/camera/depth_registered/sw_registered/image_rect_raw rgb/camera_info:=/camera/rgb/camera_info left/image_rect:=/stereo_camera/left/image_rect_color right/image_rect:=/stereo_camera/right/image_rect left/camera_info:=/stereo_camera/left/camera_info right/camera_info:=/stereo_camera/right/camera_info scan:=/scan scan_cloud:=/scan_cloud __name:=rtabmap __log:=/home/gal/.ros/log/980a9c74-eb95-11e7-9af0-001e06302d57/rtabmap-rtabmap-2.log].
log file: /home/gal/.ros/log/980a9c74-eb95-11e7-9af0-001e06302d57/rtabmap-rtabmap-2*.log
[ INFO] [1514624117.766062934]: Odom: quality=76, std dev=0.114708m, update time=0.035344s
[ INFO] [1514624117.803406346]: Odom: quality=63, std dev=0.125988m, update time=0.035821s
[ INFO] [1514624118.077901692]: Odom: quality=65, std dev=0.124035m, update time=0.027739s
[ INFO] [1514624118.387913931]: Odom: quality=58, std dev=0.131306m, update time=0.031247s
[ WARN] [1514624118.773310295]: rtabmapviz: Could not get transform from odom to camera_link after 1.000000 seconds (for stamp=1514624116.509444)!
This is what the camera is publishing:
Frames:
Frame: camera_depth_frame published by unknown_publisher Average Delay: -0.0927805 Max Delay: 0
Frame: camera_depth_optical_frame published by unknown_publisher Average Delay: -0.0891017 Max Delay: 0
Frame: camera_rgb_frame published by unknown_publisher Average Delay: -0.0886092 Max Delay: 0
Frame: camera_rgb_optical_frame published by unknown_publisher Average Delay: -0.087947 Max Delay: 0