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felixendres / rgbdslam_v2

RGB-D SLAM for ROS
GNU General Public License v3.0
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Breaking detection iterations, because of missing depth #125

Open MasterRoboticist opened 3 years ago

MasterRoboticist commented 3 years ago

I'm trying to use RGBD SLAM with a stereo camera, but I'm running into some issues. My stereo camera does not provide a depth image, only a point cloud. Is it possible to use RGBD SLAM without a depth image? I've set wide_topic to my image topic and wide_cloud_topic to my point cloud topic. The gui will start up and then crash. The relevant terminal output is copied below:

`[ INFO] [1606856164.016129785, 8.646000000]: Listening to /multisense/camera/left/image_mono and /multisense/image_points2 [ INFO] [1606856165.718512355, 8.754000000]: No devices connected.... waiting for devices to be connected [ INFO] [1606856166.893925217, 8.808000000]: Received data from stereo cam [ WARN] [1606856166.894056994, 8.808000000]: First RGBD-Data Received [ INFO] [1606856166.930965203, 8.810500000]: Construction of Node with ORB Features Breaking detection iterations, because of missing depthBreaking detection iterations, because of missing depthBreaking detection iterations, because of missing depthBreaking detection iterations, because of missing depthBreaking detection iterations, because of missing depthBreaking detection iterations, because of missing depthBreaking detection iterations, because of missing depthBreaking detection iterations, because of missing depthBreaking detection iterations, because of missing depth[ INFO] [1606856166.998135819, 8.812500000]: Feature 2d size: 0, 3D: 0 [ INFO] [1606856166.998223871, 8.812500000]: Feature 2d size: 0, 3D: 0 [ INFO] [1606856166.998527628, 8.812500000]: Feature Count of Node: 0 [ WARN] [1606856167.105916519, 8.817500000]: "openni_rgb_optical_frame" passed to lookupTransform argument target_frame does not exist. [ WARN] [1606856167.105981903, 8.817500000]: Using Standard kinect /openni_camera -> /openni_rgb_optical_frame as transformation (This message is throttled to 1 per 5 seconds) OpenCV Error: Assertion failed (i1 >= 0 && j < ndsts && dst[j].depth() == depth) in mixChannels, file /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/core/src/convert.cpp, line 614 terminate called after throwing an instance of 'cv::Exception' what(): /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/core/src/convert.cpp:614: error: (-215) i1 >= 0 && j < ndsts && dst[j].depth() == depth in function mixChannels

REQUIRED process [rgbdslam-25] has died! process has died [pid 4765, exit code -6, cmd /home/emily/catkin_ws/devel/lib/rgbdslam/rgbdslam name:=rgbdslam log:=/home/emily/.ros/log/4e9bc55e-3417-11eb-afef-5c3a45e01c7d/rgbdslam-25.log]. log file: /home/emily/.ros/log/4e9bc55e-3417-11eb-afef-5c3a45e01c7d/rgbdslam-25*.log Initiating shutdown! `

felixendres commented 3 years ago

For stereo the data an image synced with a pointcloud is received here and a depth image is computed from the cloud here. This doesn't seem to work, as this function says there are no depth values in your cloud.

Not sure why it crashes then. I don't have time to investigate. As a quick fix, I recommend you insert the check for depth-less cloud/depth-image somewhere here and just abort processing of that image+cloud in that case (just return from stereoCallback()).

MasterRoboticist commented 3 years ago

Thanks! Turns out the problem isn't related to the depth image. I implemented your fix and it skips depth-less depth images, but when the depth image isn't empty, it throws the same warning and opencv error and then crashes (re-copied below for clarity). We'll keep looking into it ourselves, but if you have any ideas we would be grateful.

`[ WARN] [1607436291.753501698, 24.719500000]: "openni_rgb_optical_frame" passed to lookupTransform argument target_frame does not exist. [ WARN] [1607436291.753555448, 24.719500000]: Using Standard kinect /openni_camera -> /openni_rgb_optical_frame as transformation (This message is throttled to 1 per 5 seconds) OpenCV Error: Assertion failed (i1 >= 0 && j < ndsts && dst[j].depth() == depth) in mixChannels, file /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/core/src/convert.cpp, line 614 terminate called after throwing an instance of 'cv::Exception' what(): /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/core/src/convert.cpp:614: error: (-215) i1 >= 0 && j < ndsts && dst[j].depth() == depth in function mixChannels

REQUIRED process [rgbdslam-25] has died! `

felixendres commented 3 years ago

Then, the best first step is finding out where the error occurs. Try obtaining a stack trace. Either run rgbdslam in gdb (see here for to do it with a launch file), or enable core dumps (ulimit -c unlimited) and inspect it with gdb (gdb /path/to/rgbdslam ./core). In gdb "bt" will give you the backtrace. You may need to switch to the respective thread first.