rgbd_odometry input type error

introlab / rtabmap_ros

RTAB-Map's ROS package.

http://wiki.ros.org/rtabmap_ros

BSD 3-Clause "New" or "Revised" License

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rgbd_odometry input type error #510

Open aled96 opened 3 years ago

aled96 commented 3 years ago

I am running rtabmap with a simulated Intel Realsense D435i but I have the following error:

[RGBDOdometry::commonCallback]: Input type must be image=mono8,mono16,rgb8,bgr8,bgra8,rgba8 and image_depth=32FC1,16UC1,mono16. Current rgb=rgb8 and depth=rgb8

Even changing the format of the depth in the xacro file, I receive the same error.

matlabbe commented 3 years ago

rgb8 for depth is strange, which topic are you using?

aled96 commented 3 years ago

I am using a simulated realsense D435i. The depth comes out with rgb8 specifying a format "RGB_INT8", but if I change to mono16 or others, I have bgr8...

The topic is "camera_aligned_depth_to_color/image_raw"

aled96 commented 3 years ago

Now I managed to convert it into mono16 but rtabmap results in no cloud.. I can see Voxel_cloud but with a different scale and orientation, the others are empty