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MobileManipulation / rgbd_ros_to_lcm

ROS node to republish RGBD sensor data in LCM
BSD 3-Clause "New" or "Revised" License
26 stars 11 forks source link

Parameters setting #6

Closed MengDes closed 5 years ago

MengDes commented 5 years ago

my sensor is realsense D415 ，use together with Labelfusion https://github.com/RobotLocomotion/LabelFusion i want to disable compress_rgb,compress_depth to get better quallity data. here is my roslaunch file:

input parameters

  subscribe_point_cloud: false
  #rgb_topic: /camera/rgb/image_rect_color
  rgb_topic: /camera/color/image_raw
  depth_topic: /camera/aligned_depth_to_color/image_raw

  #depth_topic: /camera/depth_registered/sw_registered/image_rect_raw
  cloud_topic: /camera/depth_registered/points

  # output parameters
  output_lcm_channel: "OPENNI_FRAME"
  compress_rgb: false
  compress_depth: false

  debug_print_statements: true

i recored success, but when i turn to labelfusion docker , run_trim this lcmlog file error occur:

root@7735bcb889e1:~/labelfusion/data/log/test# run_trim
Found this many *lcmlogs:  1
Renaming to original_log.lcmlog
mv: 'original_log.lcmlog' and 'original_log.lcmlog' are the same file
Opening log player...
Opening viewer
OpenJDK 64-Bit Server VM warning: Using incremental CMS is deprecated and will likely be removed in a future release
LC: Disabling IPV6 support
LCM: Disabling IPV6 support
LCM: TTL set to zero, traffic will not leave localhost.
Exception: java.net.BindException: Address already in use (Bind failed)
Total seconds: 14.072087
==== LCM Warning ===
LCM detected that large packets are being received, but the kernel UDP
receive buffer is very small.  The possibility of dropping packets due to
insufficient buffer space is very high.

For more information, visit:
   http://lcm-proj.github.io/multicast_setup.html

Failed to get BotCamTrans for camera: OPENNI_FRAME_D
Failed to get coord_frame for camera: OPENNI_FRAME_D
unhandled image pixelformat 861030210 for camera OPENNI_FRAME_LEFT
WARNING: multisense_utils::unpack_multisense | image type not understood: 4
unhandled image pixelformat 861030210 for camera OPENNI_FRAME_LEFT
WARNING: multisense_utils::unpack_multisense | image type not understood: 4
unhandled image pixelformat 861030210 for camera OPENNI_FRAME_LEFT
WARNING: multisense_utils::unpack_multisense | image type not understood: 4
unhandled image pixelformat 861030210 for camera OPENNI_FRAME_LEFT
WARNING: multisense_utils::unpack_multisense | image type not understood: 4

i think this may not caused by rgbd_ros_to_lcm,but i was first time to know LCM,can you give me some tips ? thank you very much!

5yler commented 5 years ago

Hi, I would recommend using the default settings and not disabling the compression. It's been a couple years since I have used LabelFusion but if I recall correctly there are some assumptions in the codebase about the format of the LCM log images (compressed being the standard). Let me know if that helps.

MengDes commented 5 years ago

thanks for you replay. very helpful

5yler commented 5 years ago

You're welcome!