matlabbe
commented
3 years ago Hi, rtabmap is expecting a RGB image always equal or larger than the depth image. In your case, the depth image is 2x larger than the RGB image. Depth= 1280x720 and RGB=640x480. Do you have a RGB topic at 1280x720 resolution? or a depth topic at 640x480 resolution that you could use instead?
Haydar1990
Hallo , i am new on ROS & Rtabmap, i am trying to bild a 3D map using Gazebo and Rtabmap And i got this
My Launch file:
SUMMARY
PARAMETERS
NODES /rtabmap/ rtabmap (rtabmap_ros/rtabmap)
ROS_MASTER_URI=http://localhost:11311
process[rtabmap/rtabmap-1]: started with pid [26951] [ INFO] [1625842720.528433218]: Starting node... [ INFO] [1625842720.577975466]: Initializing nodelet with 4 worker threads. [ INFO] [1625842720.772281123]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000 [ INFO] [1625842720.772358592]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000 [ INFO] [1625842720.772396380]: /rtabmap/rtabmap(maps): map_cleanup = true [ INFO] [1625842720.772426384]: /rtabmap/rtabmap(maps): map_always_update = false [ INFO] [1625842720.772460399]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true [ INFO] [1625842720.772486999]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true [ INFO] [1625842720.772512517]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false [ INFO] [1625842720.772538359]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2 [ INFO] [1625842720.773605798]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16 [ INFO] [1625842720.796755950]: rtabmap: frame_id = base_footprint [ INFO] [1625842720.796796974]: rtabmap: odom_frame_id = odom_comb [ INFO] [1625842720.796813330]: rtabmap: map_frame_id = map [ INFO] [1625842720.796824061]: rtabmap: use_action_for_goal = false [ INFO] [1625842720.796838292]: rtabmap: tf_delay = 0.050000 [ INFO] [1625842720.796850992]: rtabmap: tf_tolerance = 0.100000 [ INFO] [1625842720.796860400]: rtabmap: odom_sensor_sync = false [ INFO] [1625842720.797178675]: rtabmap: gen_scan = false [ INFO] [1625842720.797199127]: rtabmap: gen_depth = false [ INFO] [1625842720.928227918, 134.837000000]: Setting RTAB-Map parameter "Icp/CorrespondenceRatio"="0.3" [ INFO] [1625842720.983688549, 134.876000000]: Setting RTAB-Map parameter "Kp/MaxDepth"="4.0" [ INFO] [1625842721.036366967, 134.903000000]: Setting RTAB-Map parameter "Mem/RehearsalSimilarity"="0.30" [ INFO] [1625842721.067576534, 134.918000000]: Setting RTAB-Map parameter "RGBD/AngularUpdate"="0.01" [ INFO] [1625842721.072770534, 134.921000000]: Setting RTAB-Map parameter "RGBD/LinearUpdate"="0.01" [ INFO] [1625842721.084267915, 134.927000000]: Setting RTAB-Map parameter "RGBD/OptimizeFromGraphEnd"="false" [ INFO] [1625842721.089445105, 134.930000000]: Setting RTAB-Map parameter "RGBD/ProximityBySpace"="true" [ INFO] [1625842721.103402416, 134.938000000]: Setting RTAB-Map parameter "Reg/Force3DoF"="true" [ INFO] [1625842721.104524641, 134.938000000]: Setting RTAB-Map parameter "Reg/Strategy"="1" [ INFO] [1625842721.131418191, 134.951000000]: Setting RTAB-Map parameter "Rtabmap/TimeThr"="700" [ INFO] [1625842721.211846134, 135.003000000]: Setting RTAB-Map parameter "Vis/InlierDistance"="0.1" [ INFO] [1625842721.217042255, 135.008000000]: Setting RTAB-Map parameter "Vis/MinInliers"="5" [ WARN] [1625842721.338281130, 135.071000000]: Rtabmap: Parameter name changed: "Optimizer/Slam2D" -> "Reg/Force3DoF". Please update your launch file accordingly. Value "true" is still set to the new parameter name. [ WARN] [1625842721.399590357, 135.114000000]: Setting "Grid/FromDepth" parameter to false (default true) as "subscribe_scan", "subscribe_scan_cloud" or "gen_scan" is true. The occupancy grid map will be constructed from laser scans. To get occupancy grid map from cloud projection, set "Grid/FromDepth" to true. To suppress this warning, add [ INFO] [1625842721.399706650, 135.114000000]: Setting "Grid/RangeMax" parameter to 0 (default 5.000000) as "subscribe_scan", "subscribe_scan_cloud" or "gen_scan" is true and Grid/FromDepth is false. [ WARN] [1625842721.399778066, 135.114000000]: Setting "RGBD/ProximityPathMaxNeighbors" parameter to 10 (default 0) as "subscribe_scan" is true and "Reg/Strategy" uses ICP. Proximity detection by space will be also done by merging close scans. To disable, set "RGBD/ProximityPathMaxNeighbors" to 0. To suppress this warning, add [ INFO] [1625842721.401754654, 135.116000000]: Update RTAB-Map parameter "Optimizer/Epsilon"="0.00001" from database [ INFO] [1625842721.401872965, 135.116000000]: Update RTAB-Map parameter "Optimizer/GravitySigma"="0.0" from database [ INFO] [1625842721.401890291, 135.116000000]: Update RTAB-Map parameter "Optimizer/Iterations"="100" from database [ INFO] [1625842721.401909790, 135.116000000]: Update RTAB-Map parameter "Optimizer/Strategy"="0" from database [ INFO] [1625842721.401970928, 135.116000000]: Update RTAB-Map parameter "Vis/BundleAdjustment"="0" from database [ INFO] [1625842721.401993553, 135.116000000]: Update RTAB-Map parameter "Vis/PnPRefineIterations"="1" from database [ INFO] [1625842721.402374129, 135.116000000]: RTAB-Map detection rate = 1.000000 Hz [ INFO] [1625842721.402474743, 135.116000000]: rtabmap: Using database from "/home/rosmatch/Documents/RTAB-Map/rtabmap.db" (1672 MB). [ INFO] [1625842722.011962778, 135.496000000]: rtabmap: Working Memory = 1889, Local map = 0. [ INFO] [1625842722.012145023, 135.496000000]: rtabmap: Database version = "0.20.11". [ INFO] [1625842722.012204189, 135.496000000]: rtabmap: SLAM mode (Mem/IncrementalMemory=true) [ INFO] [1625842722.040600120, 135.513000000]: /rtabmap/rtabmap: subscribe_depth = true [ INFO] [1625842722.040651436, 135.513000000]: /rtabmap/rtabmap: subscribe_rgb = true [ INFO] [1625842722.040672185, 135.513000000]: /rtabmap/rtabmap: subscribe_stereo = false [ INFO] [1625842722.040692127, 135.513000000]: /rtabmap/rtabmap: subscribe_rgbd = false (rgbd_cameras=1) [ INFO] [1625842722.040713165, 135.513000000]: /rtabmap/rtabmap: subscribe_odom_info = false [ INFO] [1625842722.040733508, 135.513000000]: /rtabmap/rtabmap: subscribe_user_data = false [ INFO] [1625842722.040749739, 135.513000000]: /rtabmap/rtabmap: subscribe_scan = true [ INFO] [1625842722.040766452, 135.513000000]: /rtabmap/rtabmap: subscribe_scan_cloud = false [ INFO] [1625842722.040783470, 135.513000000]: /rtabmap/rtabmap: subscribe_scan_descriptor = false [ INFO] [1625842722.040804188, 135.513000000]: /rtabmap/rtabmap: queue_size = 10 [ INFO] [1625842722.040826551, 135.513000000]: /rtabmap/rtabmap: approx_sync = true [ INFO] [1625842722.040901312, 135.513000000]: Setup depth callback [ INFO] [1625842722.064478061, 135.524000000]: /rtabmap/rtabmap subscribed to (approx sync): /camera/color/image_raw \ /camera/depth/image_raw \ /camera/color/camera_info \ /scan [ INFO] [1625842722.188510299, 135.611000000]: rtabmap 0.20.13 started... [FATAL] (2021-07-09 16:58:42.406) Memory.cpp:4143::createSignature() Condition (data.depthOrRightRaw().empty() || ( ( data.depthOrRightRaw().type() == CV_16UC1 || data.depthOrRightRaw().type() == CV_32FC1 || data.depthOrRightRaw().type() == CV_8UC1) && ( (data.imageRaw().empty() && data.depthOrRightRaw().type() != CV_8UC1) || (data.depthOrRightRaw().rows <= data.imageRaw().rows && data.depthOrRightRaw().cols <= data.imageRaw().cols)))) not met! [image=(640/480, type=16, [accepted=0,16]) depth=(1280/720, type=2 [accepted=2(depth mm),5(depth m),0(stereo)]). For stereo, left and right images should be same size. For RGB-D, depth can be X times smaller than RGB (where X is an integer).] terminate called after throwing an instance of 'UException' what(): [FATAL] (2021-07-09 16:58:42.406) Memory.cpp:4143::createSignature() Condition (data.depthOrRightRaw().empty() || ( ( data.depthOrRightRaw().type() == CV_16UC1 || data.depthOrRightRaw().type() == CV_32FC1 || data.depthOrRightRaw().type() == CV_8UC1) && ( (data.imageRaw().empty() && data.depthOrRightRaw().type() != CV_8UC1) || (data.depthOrRightRaw().rows <= data.imageRaw().rows && data.depthOrRightRaw().cols <= data.imageRaw().cols)))) not met! [image=(640/480, type=16, [accepted=0,16]) depth=(1280/720, type=2 [accepted=2(depth mm),5(depth m),0(stereo)]). For stereo, left and right images should be same size. For RGB-D, depth can be X times smaller than RGB (where X is an integer).] [rtabmap/rtabmap-1] process has died [pid 26951, exit code -6, cmd /home/rosmatch/catkin_ws_Haidar/devel/lib/rtabmap_ros/rtabmap scan:=/scan rgb/image:=/camera/color/image_raw depth/image:=/camera/depth/image_raw rgb/camera_info:=/camera/color/camera_info grid_map:=/map name:=rtabmap log:=/home/rosmatch/.ros/log/c1faf2d0-e0c5-11eb-98b2-901b0e1e89c3/rtabmap-rtabmap-1.log]. log file: /home/rosmatch/.ros/log/c1faf2d0-e0c5-11eb-98b2-901b0e1e89c3/rtabmap-rtabmap-1*.log all processes on machine have died, roslaunch will exit shutting down processing monitor... ... shutting down processing monitor complete done
And My Topic List:
/amcl/parameter_descriptions /amcl/parameter_updates /amcl_pose /b_scan /b_scan_rep117 /camera/color/camera_info /camera/color/image_raw /camera/color/image_raw/compressed /camera/color/image_raw/compressed/parameter_descriptions /camera/color/image_raw/compressed/parameter_updates /camera/color/image_raw/compressedDepth /camera/color/image_raw/compressedDepth/parameter_descriptions /camera/color/image_raw/compressedDepth/parameter_updates /camera/color/image_raw/theora /camera/color/image_raw/theora/parameter_descriptions /camera/color/image_raw/theora/parameter_updates /camera/depth/camera_info /camera/depth/color/points /camera/depth/image_raw /camera/depth/image_raw/compressed /camera/depth/image_raw/compressed/parameter_descriptions /camera/depth/image_raw/compressed/parameter_updates /camera/depth/image_raw/compressedDepth /camera/depth/image_raw/compressedDepth/parameter_descriptions /camera/depth/image_raw/compressedDepth/parameter_updates /camera/depth/image_raw/theora /camera/depth/image_raw/theora/parameter_descriptions /camera/depth/image_raw/theora/parameter_updates /camera/infra1/camera_info /camera/infra1/image_raw /camera/infra1/image_raw/compressed /camera/infra1/image_raw/compressed/parameter_descriptions /camera/infra1/image_raw/compressed/parameter_updates /camera/infra1/image_raw/compressedDepth /camera/infra1/image_raw/compressedDepth/parameter_descriptions /camera/infra1/image_raw/compressedDepth/parameter_updates /camera/infra1/image_raw/theora /camera/infra1/image_raw/theora/parameter_descriptions /camera/infra1/image_raw/theora/parameter_updates /camera/infra2/camera_info /camera/infra2/image_raw /camera/infra2/image_raw/compressed /camera/infra2/image_raw/compressed/parameter_descriptions /camera/infra2/image_raw/compressed/parameter_updates /camera/infra2/image_raw/compressedDepth /camera/infra2/image_raw/compressedDepth/parameter_descriptions /camera/infra2/image_raw/compressedDepth/parameter_updates /camera/infra2/image_raw/theora /camera/infra2/image_raw/theora/parameter_descriptions /camera/infra2/image_raw/theora/parameter_updates /clicked_point /clock /diagnostics /f_scan /f_scan_rep117 /gazebo/link_states /gazebo/model_states /gazebo/parameter_descriptions /gazebo/parameter_updates /gazebo/set_link_state /gazebo/set_model_state /ground_truth /imu_data /initialpose /joint_states /map /map_metadata /map_updates /mobile_base_controller/cmd_vel /mobile_base_controller/odom /mobile_base_controller/parameter_descriptions /mobile_base_controller/parameter_updates /move_base/cancel /move_base/feedback /move_base/goal /move_base/result /move_base/status /move_base_node/DWAPlannerROS/cost_cloud /move_base_node/DWAPlannerROS/global_plan /move_base_node/DWAPlannerROS/local_plan /move_base_node/DWAPlannerROS/parameter_descriptions /move_base_node/DWAPlannerROS/parameter_updates /move_base_node/DWAPlannerROS/trajectory_cloud /move_base_node/NavfnROS/plan /move_base_node/current_goal /move_base_node/global_costmap/costmap /move_base_node/global_costmap/costmap_updates /move_base_node/global_costmap/footprint /move_base_node/global_costmap/inflation/parameter_descriptions /move_base_node/global_costmap/inflation/parameter_updates /move_base_node/global_costmap/navigation_map/parameter_descriptions /move_base_node/global_costmap/navigation_map/parameter_updates /move_base_node/global_costmap/obstacles/clearing_endpoints /move_base_node/global_costmap/obstacles/parameter_descriptions /move_base_node/global_costmap/obstacles/parameter_updates /move_base_node/global_costmap/obstacles/voxel_grid /move_base_node/global_costmap/parameter_descriptions /move_base_node/global_costmap/parameter_updates /move_base_node/local_costmap/costmap /move_base_node/local_costmap/costmap_updates /move_base_node/local_costmap/footprint /move_base_node/local_costmap/inflation/parameter_descriptions /move_base_node/local_costmap/inflation/parameter_updates /move_base_node/local_costmap/obstacles/clearing_endpoints /move_base_node/local_costmap/obstacles/parameter_descriptions /move_base_node/local_costmap/obstacles/parameter_updates /move_base_node/local_costmap/obstacles/voxel_grid /move_base_node/local_costmap/parameter_descriptions /move_base_node/local_costmap/parameter_updates /move_base_node/parameter_descriptions /move_base_node/parameter_updates /move_base_simple/goal /particlecloud /rosout /rosout_agg /rtabmap/cloud_ground /rtabmap/cloud_map /rtabmap/cloud_obstacles /rtabmap/global_path /rtabmap/global_path_nodes /rtabmap/global_pose /rtabmap/goal /rtabmap/goal_node /rtabmap/goal_out /rtabmap/goal_reached /rtabmap/gps/fix /rtabmap/grid_prob_map /rtabmap/imu /rtabmap/info /rtabmap/initialpose /rtabmap/labels /rtabmap/landmarks /rtabmap/local_grid_empty /rtabmap/local_grid_ground /rtabmap/local_grid_obstacle /rtabmap/local_path /rtabmap/local_path_nodes /rtabmap/localization_pose /rtabmap/mapData /rtabmap/mapGraph /rtabmap/mapPath /rtabmap/octomap_binary /rtabmap/octomap_empty_space /rtabmap/octomap_full /rtabmap/octomap_global_frontier_space /rtabmap/octomap_grid /rtabmap/octomap_ground /rtabmap/octomap_obstacles /rtabmap/octomap_occupied_space /rtabmap/proj_map /rtabmap/scan_map /rtabmap/user_data_async /scan /tf /tf_static
Thank You in advance