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ros-drivers / openni2_camera

ROS wrapper for openni 2.0
http://wiki.ros.org/openni2_camera
BSD 3-Clause "New" or "Revised" License
56 stars 96 forks source link

Compatibility with low resolutions #93

Closed pl-kabaradjian closed 5 years ago

pl-kabaradjian commented 5 years ago

Hello,

I have been trying to use this package with an in-house device that is a QQQVGA (80x60) depth camera, that can output an IR stream and a Depth stream through a working OpenNI2 proprietary driver. There is no RGB output on this device.

When trying to naively run the openni2_camera_node it is giving me the famous:

[ERROR] [1548437429.970623586]: Unsupported IR video mode - Resolution: 640x480@30Hz Format: Gray16 [ERROR] [1548437429.971079624]: Unsupported color video mode - Resolution: 640x480@30Hz Format: RGB888 [ERROR] [1548437429.971311786]: Unsupported depth video mode - Resolution: 640x480@30Hz Format: Depth 1mm

Then by taking a deeper look at the code I found that the lowest resolution supported byt the video mode list is 160x120. It is also the case in the dynamic reconfigure.

I tried adding a QQQVGA mode in both the "openni2_driver.cpp" and the reconfiguration cfg but I can't manage to make the openni2_camera_node work. I get rid of the unsupproted mode error but get a segfault instead. The thing is that the test_wrapper test works fine without any modification and show me the correct resolution for my device.

Output of test_wrapper:

IR sensor video modes:
   - Resolution: 80x60@30Hz Format: Gray16

Color sensor video modes:
   - Resolution: 80x60@30Hz Format: RGB888

Depth sensor video modes:
   - Resolution: 80x60@30Hz Format: Depth 1mm

Can anyone help on this topic? It would be nice to make this openni2 wrapper work with even more devices.

Sivasankar-Ganesan commented 5 years ago

Hi I am getting same error. How did you solve this?

Sivasankar-Ganesan commented 5 years ago

I am getting error as process[camera_base_link-11]: started with pid [10934] process[camera_base_link1-12]: started with pid [10967] process[camera_base_link2-13]: started with pid [10973] process[camera_base_link3-14]: started with pid [10982] [Info] [Freenect2Impl] enumerating devices... [Info] [Freenect2Impl] 7 usb devices connected [Info] [Freenect2Impl] found valid Kinect v2 @2:5 with serial 004398444747 [Info] [Freenect2Impl] found 1 devices [ INFO] [1555299351.265756426]: Device "freenect2://0?serial=004398444747" found. [ INFO] [1555299351.265790728]: Device "freenect2://0?serial=004398444747&depth-size=640x480" found. [ INFO] [1555299351.265803875]: Device "freenect2://0?serial=004398444747&depth-size=512x424" found. libva info: VA-API version 0.39.0 libva info: va_getDriverName() returns 0 libva info: Trying to open /usr/lib/x86_64-linux-gnu/dri/i965_drv_video.so libva info: Found init function __vaDriverInit_0_39 libva info: va_openDriver() returns 0 [Info] [VaapiRgbPacketProcessorImpl] driver: Intel i965 driver for Intel(R) Skylake - 1.7.0 [Info] [Freenect2DeviceImpl] opening... [Info] [Freenect2DeviceImpl] transfer pool sizes rgb: 2016384 ir: 608*33792 [Info] [Freenect2DeviceImpl] opened [ERROR] [1555299351.641491726]: Unsupported IR video mode - Resolution: 640x480@30Hz Format: Gray16 [ERROR] [1555299351.641635203]: Unsupported color video mode - Resolution: 640x480@30Hz Format: RGB888