Re: Can I use a bag taken using zed2i? (I used compression.)

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Can-I-use-a-bag-taken-using-zed2i-I-used-compression-tp9395p9418.html

Hi,

rtabmap does support depth 32FC1 (meters) format or 16UC1 (mm) format. Your error seems related to image_transport issue. Here is another similar issue where image_transform compressedDepth plugin naming changed between ros versions: https://github.com/introlab/rtabmap_ros/issues/509#issuecomment-733869451

The error is thrown from here:
https://github.com/ros-perception/image_transport_plugins/blob/cca6781d47732e7fca078df950780c09dfca9225/compressed_depth_image_transport/src/codec.cpp#L72-L91

In your case, maybe compressedDepth plugin doesn't support 32FC1 format, only 16UC1. Try subscribing to not compressed depth image, or the compressed depth image topic using 16UC1 format if available form the camera driver.

cheers,
Mathieu