Kinect image and delay - Githubissues

nxdefiant / ros_image_to_rtsp

ROS sensor_msgs/Image to rtsp nodelet

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Kinect image and delay #4

Open alduxvm opened 6 years ago

alduxvm commented 6 years ago

Hi!

I'm testing your node using a kinect v1 (with the same topic) and I'm getting an error on the console, which is:

[ INFO] [1509994047.571572958]: Client connected: /rgb
x264 [error]: baseline profile doesn't support 4:4:4

I can still the stream, an example of what I see when I open the stream using vlc is here:

I'm using ubuntu 16.04 on an odroid xu4 and I installed gst1.0 as in your instructions: sudo apt-get install libgstrtspserver-1.0-dev gstreamer1.0-plugins-good gstreamer1.0-plugins-bad gstreamer1.0-plugins-ugly

Also, I can see a delay of 10 to 20 seconds on the image... maybe gst is not properly installed? or what can the issue be?

Thanks a lot!

nxdefiant commented 6 years ago

The error shouldn't be the problem. This looks like a resolution or color format mismatch. Can you add the output of

rostopic echo -n 1 --noarr /camera/rgb/image_raw

Is the delay increasing? If so you might want to check the cpu usage as it might be too much for the cpu.

nxdefiant commented 6 years ago

Also when encoding on an ARM controller I recommend to use a hardware encoder instead of the cpu (which is why this node exists in the first place), for odroid the keyword seems to be v4l2video8enc

alduxvm commented 6 years ago

For the rostopic echo -n 1 --noarr /camera/rgb/image_raw:

  seq: 0
  stamp: 
    secs: 1510000564
    nsecs: 293323078
  frame_id: camera_rgb_optical_frame
height: 480
width: 640
encoding: bayer_grbg8
is_bigendian: 0
step: 640
data: <array type: uint8, length: 307200>
---

I'm going to check the hardware controller just now... will let you know.

nxdefiant commented 6 years ago

Yeah, the launch file is configured for a 320x240 image while your /camera/rgb/image_raw topic is 640x480. Thats why the the image is disturbed. Two options:

Either change the value for width and height in the caps entry of the launch file
or you could try the new commit 665cf56 which reads the caps from the ros topic.

alduxvm commented 6 years ago

I updated the repository, did the compilation again, installed the .debs from the odroid link, and now I have this:

and in the console, still the same error:

[ INFO] [1510001244.516869170]: Client connected: /rgb
x264 [error]: baseline profile doesn't support 4:4:4

nxdefiant commented 6 years ago

Please only one change at a time. Unfortunately I don't have a ros enabled odroid atm, so lets try without the custom odroid packages first. If it still does not work please add a 5-10s bag file of the /camera/rgb/image_raw topic.