Missing Frames

Posted by Montana on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Missing-Frames-tp7840.html

Hi everyone, Just getting started playing around with the RTAB-Map standalone GUI and an Intel D435i camera on the RPi4. I built realsense 2.44 without and problems, and can run the realsense-viewer app to see everything from the sensor just fine. I built open-cv on the pi using the extra modules, notfree, etc flags just fine, along with g2o. I ran into some problems after building RTAB-map. First, for anyone who comes along and has issues trying to run the GUI with QT5 and gtk, make sure to change 'style=gtk2' with 'style=gtk3' in /etc/xdg/qt5ct/qt5ct.conf When I try to run mapping with the realsense 400 as RGB-D I run into a problem. No matter what I set resolutions, fps, or any other combination of options, after a few seconds the program stops and tells me:

[ERROR] (date - time) CameraRealSense2.cpp:1453::captureImage() Missing frames (received 1, needed=2)
[Warn] (date - time) CameraThread.cpp:189::mainLoop() no more images...

There is another pose here about what seems to be the same problem, but this seems to be a different reason, or that fix would be working here. There also is no delay between the stream stopping and this error, they seem to happen together. I can immediately unpause and it will start running again fine for another few seconds before repeating. It seems like using these cameras is popular, so I feel like I just have a setting wrong somewhere, or maybe missed an option when building (I built everything in release). Any help would be appreciated.