Error: Depth resolution (1280x720) does not match RGB resolution (1280x720)

[julianhund]

When I run "ros2 launch depthai_ros_driver rgbd_pcl.launch.py" I got the following Error: [component_container-2] [ERROR] [1691152826.505330441] [point_cloud_xyzrgb_node]: Depth resolution (1280x720) does not match RGB resolution (1280x720)

Log-File: 1691152806.7447321 [component_container-2] [INFO] [1691152806.744490674] [oak]: Device type: OAK-D-PRO-W-97 1691152806.7471197 [component_container-2] [INFO] [1691152806.746911994] [oak]: Pipeline type: RGBD 1691152806.9809377 [component_container-2] [INFO] [1691152806.980735986] [oak]: Finished setting up pipeline. 1691152807.0401533 [component_container-2] [18443010E1EE870E00] [1.4.2] [0.927] [ColorCamera(0)] [warning] Unsupported resolution set for detected camera OV9782, needs 800_P or 720_P. Defaulting to 800_P 1691152807.2883236 [component_container-2] [INFO] [1691152807.287414685] [oak]: Camera ready! 1691152807.2921410 [component_container-2] [INFO] [1691152807.289150476] [oak_container]: Load Library: /opt/ros/humble/lib/libdepth_image_proc.so 1691152807.2943358 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container' 1691152807.3126044 [component_container-2] [INFO] [1691152807.311861453] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate 1691152807.3132336 [component_container-2] [INFO] [1691152807.312008315] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate 1691152807.3135865 [component_container-2] [INFO] [1691152807.312036711] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate 1691152807.3138990 [component_container-2] [INFO] [1691152807.312058297] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate 1691152807.3144405 [component_container-2] [INFO] [1691152807.312077833] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate 1691152807.3153996 [component_container-2] [INFO] [1691152807.312096953] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate 1691152807.3159177 [component_container-2] [INFO] [1691152807.312116834] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate 1691152807.3161850 [component_container-2] [INFO] [1691152807.312136389] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate 1691152807.3164363 [component_container-2] [INFO] [1691152807.312155862] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate 1691152807.3265450 [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/point_cloud_xyzrgb_node' in container 'oak_container' 1691152807.4546072 [component_container-2] [ERROR] [1691152807.454301139] [point_cloud_xyzrgb_node]: Depth resolution (1280x720) does not match RGB resolution (1280x720) 1691152807.4709277 [component_container-2] [ERROR] [1691152807.470650526] [point_cloud_xyzrgb_node]: Depth resolution (1280x720) does not match RGB resolution (1280x720) 1691152807.5033290 [component_container-2] [ERROR] [1691152807.503056358] [point_cloud_xyzrgb_node]: Depth resolution (1280x720) does not match RGB resolution (1280x720) 1691152807.5377488 [component_container-2] [ERROR] [1691152807.537376189] [point_cloud_xyzrgb_node]: Depth resolution (1280x720) does not match RGB resolution (1280x720) 1691152807.5870776 [component_container-2] [ERROR] [1691152807.586230310] [point_cloud_xyzrgb_node]: Depth resolution (1280x720) does not match RGB resolution (1280x720) 1691152807.6155798 [component_container-2] [ERROR] [1691152807.615002322] [point_cloud_xyzrgb_node]: Depth resolution (1280x720) does not match RGB resolution (1280x720) 1691152807.6493702 [component_container-2] [ERROR] [1691152807.648775254] [point_cloud_xyzrgb_node]: Depth resolution (1280x720) does not match RGB resolution (1280x720) 1691152807.6808860 [component_container-2] [ERROR] [1691152807.680299402] [point_cloud_xyzrgb_node]: Depth resolution (1280x720) does not match RGB resolution (1280x720)

[Serafadam]

Hi, well this is a weird one :sweat_smile: could you show some more logs? For example topic data ( from rostopic echo /rqt, but rosbag would be preferable)

[julianhund]

Hello,

I cant upload the bag it is to big with a very small recording. With this link you can download it:

https://seafile.rlp.net/d/a662c2e48be0474ba397/

Thank you!

This time I get first the Error: [ERROR] [1691388172.414031802] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8).

Log-Output: [INFO] [robot_state_publisher-1]: process started with pid [11813] [INFO] [component_container-2]: process started with pid [11815] [robot_state_publisher-1] [INFO] [1691388166.255118115] [oak_state_publisher]: got segment oak [robot_state_publisher-1] [INFO] [1691388166.257084027] [oak_state_publisher]: got segment oak-d-base-frame [robot_state_publisher-1] [INFO] [1691388166.257133540] [oak_state_publisher]: got segment oak_imu_frame [robot_state_publisher-1] [INFO] [1691388166.257170280] [oak_state_publisher]: got segment oak_left_camera_frame [robot_state_publisher-1] [INFO] [1691388166.257206315] [oak_state_publisher]: got segment oak_left_camera_optical_frame [robot_state_publisher-1] [INFO] [1691388166.257245993] [oak_state_publisher]: got segment oak_model_origin [robot_state_publisher-1] [INFO] [1691388166.257282240] [oak_state_publisher]: got segment oak_rgb_camera_frame [robot_state_publisher-1] [INFO] [1691388166.257317294] [oak_state_publisher]: got segment oak_rgb_camera_optical_frame [robot_state_publisher-1] [INFO] [1691388166.257352264] [oak_state_publisher]: got segment oak_right_camera_frame [robot_state_publisher-1] [INFO] [1691388166.257390961] [oak_state_publisher]: got segment oak_right_camera_optical_frame [component_container-2] [INFO] [1691388166.474098748] [oak_container]: Load Library: /home/julian/Software/Assemblyassist/dai_ws/install/depthai_ros_driver/lib/libdepthai_ros_driver.so [component_container-2] [INFO] [1691388166.610822918] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1691388166.610914335] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1691388166.616937910] [oak]: No ip/mxid specified, connecting to the next available device. [component_container-2] [INFO] [1691388169.017902708] [oak]: Camera with MXID: 18443010E1EE870E00 and Name: 1.2 connected! [component_container-2] [INFO] [1691388169.019401129] [oak]: USB SPEED: SUPER [component_container-2] [INFO] [1691388169.041526583] [oak]: Device type: OAK-D-PRO-W-97 [component_container-2] [INFO] [1691388169.052734379] [oak]: Pipeline type: RGBD [component_container-2] [INFO] [1691388169.293687617] [oak]: Finished setting up pipeline. [component_container-2] [18443010E1EE870E00] [1.2] [0.995] [ColorCamera(0)] [warning] Unsupported resolution set for detected camera OV9782, needs 800_P or 720_P. Defaulting to 800_P [component_container-2] [ERROR] [1691388169.510878102] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388169.559720050] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [INFO] [1691388169.594677120] [oak]: Camera ready! [component_container-2] [INFO] [1691388169.595373416] [oak_container]: Load Library: /opt/ros/humble/lib/libdepth_image_proc.so [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container' [component_container-2] [INFO] [1691388169.603562116] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1691388169.604339431] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1691388169.604803598] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1691388169.605277601] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1691388169.605720912] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1691388169.606156381] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1691388169.606577382] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1691388169.607014840] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1691388169.607452192] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/point_cloud_xyzrgb_node' in container 'oak_container' [component_container-2] [ERROR] [1691388169.643453055] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388169.707953391] [CompressedPublisher]: [16UC1] is not a color format. but [mono8] is. The conversion does not make sense [component_container-2] [ERROR] [1691388169.713334338] [TheoraPublisher]: cv_bridge exception: '[16UC1] is not a color format. but [bgr8] is. The conversion does not make sense' [component_container-2] [ERROR] [1691388169.714286264] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388169.768723060] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388169.780519546] [CompressedPublisher]: [16UC1] is not a color format. but [mono8] is. The conversion does not make sense [component_container-2] [ERROR] [1691388169.783003819] [TheoraPublisher]: cv_bridge exception: '[16UC1] is not a color format. but [bgr8] is. The conversion does not make sense' [component_container-2] [ERROR] [1691388169.794987568] [point_cloud_xyzrgb_node]: Depth resolution (1280x720) does not match RGB resolution (1280x720) [component_container-2] [ERROR] [1691388169.824703313] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388169.846007133] [CompressedPublisher]: [16UC1] is not a color format. but [mono8] is. The conversion does not make sense [component_container-2] [ERROR] [1691388169.847748792] [TheoraPublisher]: cv_bridge exception: '[16UC1] is not a color format. but [bgr8] is. The conversion does not make sense' [component_container-2] [ERROR] [1691388169.851972170] [point_cloud_xyzrgb_node]: Depth resolution (1280x720) does not match RGB resolution (1280x720) [component_container-2] [ERROR] [1691388169.877744086] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388169.909806051] [CompressedPublisher]: [16UC1] is not a color format. but [mono8] is. The conversion does not make sense [component_container-2] [ERROR] [1691388169.913302516] [TheoraPublisher]: cv_bridge exception: '[16UC1] is not a color format. but [bgr8] is. The conversion does not make sense' [component_container-2] [ERROR] [1691388169.916251410] [point_cloud_xyzrgb_node]: Depth resolution (1280x720) does not match RGB resolution (1280x720) [component_container-2] [ERROR] [1691388169.939493962] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388169.969915147] [CompressedPublisher]: [16UC1] is not a color format. but [mono8] is. The conversion does not make sense [component_container-2] [ERROR] [1691388169.971502282] [TheoraPublisher]: cv_bridge exception: '[16UC1] is not a color format. but [bgr8] is. The conversion does not make sense' [component_container-2] [ERROR] [1691388169.977792359] [point_cloud_xyzrgb_node]: Depth resolution (1280x720) does not match RGB resolution (1280x720) [component_container-2] [ERROR] [1691388169.992100011] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388170.025782649] [CompressedPublisher]: [16UC1] is not a color format. but [mono8] is. The conversion does not make sense [component_container-2] [ERROR] [1691388170.027401309] [TheoraPublisher]: cv_bridge exception: '[16UC1] is not a color format. but [bgr8] is. The conversion does not make sense' [component_container-2] [ERROR] [1691388170.033238129] [point_cloud_xyzrgb_node]: Depth resolution (1280x720) does not match RGB resolution (1280x720) [component_container-2] [ERROR] [1691388170.059481225] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388170.085887999] [CompressedPublisher]: [16UC1] is not a color format. but [mono8] is. The conversion does not make sense [component_container-2] [ERROR] [1691388170.090746696] [point_cloud_xyzrgb_node]: Depth resolution (1280x720) does not match RGB resolution (1280x720) [component_container-2] [ERROR] [1691388170.093656715] [TheoraPublisher]: cv_bridge exception: '[16UC1] is not a color format. but [bgr8] is. The conversion does not make sense' [component_container-2] [ERROR] [1691388170.115379010] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388170.144597134] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388170.153214402] [CompressedPublisher]: [16UC1] is not a color format. but [mono8] is. The conversion does not make sense [component_container-2] [ERROR] [1691388170.158482699] [point_cloud_xyzrgb_node]: Depth resolution (1280x720) does not match RGB resolution (1280x720) [component_container-2] [ERROR] [1691388170.159727901] [TheoraPublisher]: cv_bridge exception: '[16UC1] is not a color format. but [bgr8] is. The conversion does not make sense' [component_container-2] [ERROR] [1691388170.198751198] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388170.220931762] [CompressedPublisher]: [16UC1] is not a color format. but [mono8] is. The conversion does not make sense [component_container-2] [ERROR] [1691388170.225024794] [TheoraPublisher]: cv_bridge exception: '[16UC1] is not a color format. but [bgr8] is. The conversion does not make sense' [component_container-2] [ERROR] [1691388170.227256337] [point_cloud_xyzrgb_node]: Depth resolution (1280x720) does not match RGB resolution (1280x720) [component_container-2] [ERROR] [1691388170.255056718] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388170.310243107] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388170.363761635] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388170.424991274] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388170.480931770] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388170.532720020] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388170.598782497] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388170.656149563] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388170.687237154] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388170.750522576] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388170.806565469] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388170.855095012] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388170.915251919] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388170.965056879] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388171.018727602] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388171.074395897] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388171.128765002] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388171.195117378] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388171.234359678] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388171.299087612] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388171.348803121] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388171.409636210] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388171.468960617] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388171.527231495] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388171.582501413] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388171.645346569] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388171.705338463] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388171.765179587] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388171.798535744] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388171.860591500] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388171.915543570] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388171.967913203] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388172.028407893] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388172.089610762] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388172.143764239] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388172.210355802] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388172.262339856] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388172.326204358] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388172.359628495] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388172.414031802] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388172.425321894] [CompressedPublisher]: [16UC1] is not a color format. but [mono8] is. The conversion does not make sense [component_container-2] [ERROR] [1691388172.428160950] [TheoraPublisher]: cv_bridge exception: '[16UC1] is not a color format. but [bgr8] is. The conversion does not make sense' [component_container-2] [ERROR] [1691388172.477014927] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388172.524568034] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388172.581665842] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388172.629318806] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388172.677785293] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388172.738258344] [compressed_depth_image_transport]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8). [component_container-2] [ERROR] [1691388175.452313256] [point_cloud_xyzrgb_node]: Depth resolution (1280x720) does not match RGB resolution (1280x720) [component_container-2] [ERROR] [1691388175.778468686] [point_cloud_xyzrgb_node]: Depth resolution (1280x720) does not match RGB resolution (1280x720) [component_container-2] [ERROR] [1691388175.841937994] [point_cloud_xyzrgb_node]: Depth resolution (1280x720) does not match RGB resolution (1280x720) [component_container-2] [ERROR] [1691388175.872586782] [point_cloud_xyzrgb_node]: Depth resolution (1280x720) does not match RGB resolution (1280x720) [component_container-2] [ERROR] [1691388175.894877910] [point_cloud_xyzrgb_node]: Depth resolution (1280x720) does not match RGB resolution (1280x720) [component_container-2] [ERROR] [1691388175.926729590] [point_cloud_xyzrgb_node]: Depth resolution (1280x720) does not match RGB resolution (1280x720) [component_container-2] [ERROR] [1691388175.960706664] [point_cloud_xyzrgb_node]: Depth resolution (1280x720) does not match RGB resolution (1280x720)

[julianhund]

This is the rqt-Graph

[Serafadam]

Could you try setting i_resolution: '720' parameter in the config?

[julianhund]

Yes I setted the parameter to 720 as well as i_nn_type: none.

Now I have this error when I run rgbd_pcl.launch.py:

omponent_container-2] [INFO] [1692004697.519664985] [oak_container]: Load Library: /opt/ros/humble/lib/libdepth_image_proc.so [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/oak' in container '/oak_container' [component_container-2] [INFO] [1692004697.530541296] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1692004697.530585684] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1692004697.530592092] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1692004697.530596911] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1692004697.530601596] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1692004697.530606267] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1692004697.530615180] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1692004697.530620459] [oak_container]: Found class: rclcpp_components::NodeFactoryTemplate [component_container-2] [INFO] [1692004697.530625337] [oak_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate [INFO] [launch_ros.actions.load_composable_nodes]: Loaded node '/point_cloud_xyzrgb_node' in container 'oak_container' [component_container-2] terminate called after throwing an instance of 'cv::Exception' [component_container-2] what(): OpenCV(4.8.0-dev) ./modules/imgproc/src/resize.cpp:4051: error: (-215:Assertion failed) !ssize.empty() in function 'resize' [component_container-2]

[julianhund]

rosbag2_2023_08_14-11_31_25.zip

This is a very small recording

[Serafadam]

Hi @julianhund, could you try setting rgb: i_set_isp_scale: false and see if it works?

[julianhund]

Seems like this problem is solved, thanks.

Now I have another Error:

[component_container-2] terminate called after throwing an instance of 'cv::Exception' [component_container-2] what(): OpenCV(4.8.0-dev) ./modules/imgproc/src/resize.cpp:4051: error: (-215:Assertion failed) !ssize.empty() in function 'resize' [component_container-2] [ERROR] [component_container-2]: process has died [pid 12617, exit code -6, cmd '/opt/ros/humble/lib/rclcpp_components/component_container --ros-args --log-level info --ros-args -r __node:=oak_container -r __ns:=/']. rosbag2_2023_08_17-13_16_11.zip

[Serafadam]

Could you also share logs? To enable debug logs you can run export DEPTHAI_DEBUG=1

[julianhund]

launch.log robot_state_publisher_26400_1692368927058.log component_container_26402_1692368927058.log python3_26385_1692368927008.log

[Serafadam]

Hi @julianhund, camera driver appears to be running normally, although there is an error related to opencv. Did you build it from source? If yes, what version?

[julianhund]

Hello, yes i builded it from source: I have version 4.8.0 in C++ and 4.5.5 in Python

[Serafadam]

@julianhund From logs above rgb: i_set_isp_isp_scale is equal to true, which will cause misalignment with the images, could you verify that it's disabled?

[julianhund]

Yes I can confirm that the rgb.i_set_isp_scale is set to false. I run it again to be sure but the log says that rgb.i_set_isp = 1

In the Log is also an rgb.i_set_isp3a_fps which have the value 0.

[Serafadam]

Could you share your parameter file?

[julianhund]

.yaml Files are not supported to upload, I changed it to .txt camera.txt

[Serafadam]

Hi, just to be sure: You are launching rgbd_pcl.launch.py, right? Are you passing a new parameters file, or using the default one? This launch file has a separate parameter file, whereas the one that you uploaded looks like a parameter file from camera.launch.py.