search

CnnDepth / tx2_fcnn_node

ROS node for real-time FCNN depth reconstruction
MIT License
111 stars 31 forks source link

Using 640 X 480 uff file #14

Closed rahulmoorthy19 closed 4 years ago

rahulmoorthy19 commented 4 years ago

Hello,

Firstly thank you for such a great implementation for converting 2d image to depth image. I had one issue..so with 320 X 240. Everything is working great but now I am shifting to 640 X 480 for better map building. I am facing one issue while going through the conversion process..

  1. I used the following command to get the .test_engine of 640 X 480 rosrun tx2_fcnn_node fcrn_engine_builder --uff=./resnet_nonbt_shortcuts_640x480.uff --uffInput=tf/Placeholder --output=tf/reshape_1/Reshape --height=480 --width=640 --engine=./test_engine.trt --fp16

  2. I changed the values in the launch file. The cnn_only launch file is added to the issue cnn_only.txt

  3. I also changed the height and width values in the camera calibration file. I have add the file to the issue. tx2_camera_calib.txt

Now when I create a Rtabmap using this. I get the following error.

terminate called after throwing an instance of 'UException' what(): [FATAL] (2020-09-21 12:35:45.125) util3d_features.cpp:92::generateKeypoints3DDepth() Condition (cameraIndex >= 0 && cameraIndex < (int)cameraModels.size()) not met! [cameraIndex=1, models=1, kpt.x=540.000000, subImageWidth=640.000000 (Camera model image width=320)]

Is there anything else which needs to be changed except the above changes to make this work?

Thanking you in advance

avbokovoy commented 4 years ago

Hello,

Sorry for the late response. I've inspected your tx2_camera_calib.txt file and noticed, that you forgot to change resolution (image_width, image_height parameters). Since your issue is resolution mismatch in RTAB-Map, and this parameters affect camera_info topic, that RTAB-Map uses for image processing, that should help.

rahulmoorthy19 commented 4 years ago

Sorry I did not send the updated file. I did update the width and height parameters and got the same error. Is there any place else I need to do some change too

avbokovoy commented 4 years ago

Have you tried rtabmap_cnn.launch file with corrected height/width parameters? If not, what parameters do you use when you launch RTAB-Map?

I've just tested RTAB-Map + tx2_fcnn_node with 640x480 engine and web-camera with no issue. What do you use as an input?

rahulmoorthy19 commented 4 years ago

Got the issue...Thank You for the help