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bdaiinstitute / spot_ros2

ROS 2 driver package for Boston Dynamics' Spot
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Image Stitcher Crash #448

Open TyHowellWork opened 1 month ago

TyHowellWork commented 1 month ago

Hi, the image_stitcher_node is crashing immediately following launch with the following error message: 

[image_stitcher_node-9] terminate called after throwing an instance of 'cv::Exception'
[image_stitcher_node-9]   what():  OpenCV(4.5.4) ./modules/stitching/src/exposure_compensate.cpp:564: error: (-215:Assertion failed) _image.type() == CV_8UC3 in function 'apply'

The driver is running in a docker container built using the supplied Dockerfile and this commit. I suspect the failure might be related to this Spot having the non-RGB cameras but I don't have an RGB-camera Spot to test with.

khughes-bdai commented 1 month ago

Hi @TyHowellWork , You are right, it looks like there are some assumptions about RGB images baked into the image stitcher. Unfortunately it is hard for me/the team at the AI Instutute to work on resolving this as we don't have any greyscale camera Spots. If you are able to get code that works with your greyscale Spots, feel free to put up a PR, and we'd be happy to help with testing it on the RGB Spots we have here. The spot image publisher has some logic that might be helpful that uses the parameter has_rgb_cameras.