Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8)

[mrgransky]

running this file.launch in 1st terminal:

<launch>
    <arg name="camera_live" default="true" />
    <arg name="open_rviz"   default="true" />
    <arg name="my_camera"   default="Huawei_Mate_10_pro" />

    <node if="$(arg open_rviz)" pkg="rviz" type="rviz" name="ouster_rviz" output="screen" args="-d $(find ouster_ros)/only_huawei.rviz"/>

    <group if="$(arg camera_live)">
        <include file="$(find video_stream_opencv)/launch/camera.launch">
            <arg name="camera_name"             value="$(arg my_camera)" />

            <!--<arg name="video_stream_provider"   value="0" />
            <arg name="set_camera_fps"          value="30"/>-->

            <!-- streaming url
            <arg name="set_camera_fps"          value="30"/> -->
            <arg name="video_stream_provider"   value="http://192.168.43.26:8080/video?x.mjpeg" /> 

            <arg name="fps"                     value="10" />
            <arg name="frame_id"            value="webcam_optical_frame" />
            <!-- camera.yaml-->
            <arg name="camera_info_url"     value="file:///$(find ouster_ros)/huawei_calib.yaml" />
            <arg name="flip_horizontal"     value="false" />
            <arg name="flip_vertical"       value="false" />
            <arg name="buffer_queue_size" value="1000" />
            <arg name="width"               value="0"/>
            <arg name="height"              value="0"/>
            <arg name="visualize"           value="false" />
        </include>
    </group>
</launch>

and rosbag record -a --duration=20s -O bag_file in 2nd terminal, I get the following error streaming on my 1st terminal:

[ERROR] [1597829296.595991253]: Compressed Depth Image Transport - Compression requires single-channel 32bit-floating point or 16bit raw depth images (input format is: bgr8)

Camera Setup: Android phone, Huawei Mate10 Pro Android App: IP webcam (tried video resolution: 640x480,3264x1632)

[awesomebytes]

I saw you already posted there but... This is not about video_stream_provider but about image_transport, as reported in this link: https://answers.ros.org/question/251403/image_transport-rosbag-issue/

[mrgransky]

so is there anyway to fix it though?

[awesomebytes]

@mrgransky Well, it's not really broken, or does it crash rosbag? I've never used rosbag record -a as usually I only want a subset of topics (for example, that will record /rosout which is uncommon to want it recorded). My recommendation would be to instead do rosbag record /Huawei_Mate_10_pro/image_raw /Huawei_Mate_10_pro/camera_info and any other topic of your interest.

Otherwise, the answer in that link gives you a solution, add to the roslaunch:

        <!-- disable compressed depth plugin for image transport -->
        <group ns="image_raw">
            <rosparam param="disable_pub_plugins">
              - 'image_transport/compressedDepth'
            </rosparam>
        </group>

You could copy https://github.com/ros-drivers/video_stream_opencv/blob/master/launch/camera.launch and make it look like:

<?xml version="1.0"?>
<launch>
    <arg name="camera_name" default="camera" />
    <!-- video_stream_provider can be a number as a video device or a url of a video stream -->
    <arg name="video_stream_provider" default="0" />
    <!-- set camera fps to -->
    <arg name="set_camera_fps" default="30" />
    <!-- set buffer queue size of frame capturing to -->
    <arg name="buffer_queue_size" default="100" />
    <!-- frames per second to query the camera for -->
    <arg name="fps" default="30" />
    <!-- frame_id for the camera -->
    <arg name="frame_id" default="$(arg camera_name)" />
    <!-- By default, calibrations are stored to file://${ROS_HOME}/camera_info/${NAME}.yaml
    To use your own fill this arg with the corresponding url, e.g.:
    "file:///$(find your_camera_package)/config/your_camera.yaml" -->
    <arg name="camera_info_url" default="" />
    <!-- flip the image horizontally (mirror it) -->
    <arg name="flip_horizontal" default="false" />
    <!-- flip the image vertically -->
    <arg name="flip_vertical" default="false" />
    <!-- force width and height, 0 means no forcing -->
    <arg name="width" default="0"/>
    <arg name="height" default="0"/>
    <!-- enable looping playback, only if video_stream_provider is a video file -->
    <arg name="loop_videofile" default="false" />
    <arg name="start_frame" default="0"/>
    <arg name="stop_frame" default="-1"/>
    <!-- if show a image_view window subscribed to the generated stream -->
    <arg name="visualize" default="false"/>

    <!-- images will be published at /camera_name/image with the image transports plugins (e.g.: compressed) installed -->
    <group ns="$(arg camera_name)">
        <node pkg="video_stream_opencv" type="video_stream" name="$(arg camera_name)_stream" output="screen"> 
            <remap from="camera" to="image_raw" />
            <param name="camera_name" type="string" value="$(arg camera_name)" />
            <param name="video_stream_provider" type="string" value="$(arg video_stream_provider)" />
            <param name="set_camera_fps" type="double" value="$(arg set_camera_fps)" />
            <param name="buffer_queue_size" type="int" value="$(arg buffer_queue_size)" />
            <param name="fps" type="double" value="$(arg fps)" />
            <param name="frame_id" type="string" value="$(arg frame_id)" />
            <param name="camera_info_url" type="string" value="$(arg camera_info_url)" />
            <param name="flip_horizontal" type="bool" value="$(arg flip_horizontal)" />
            <param name="flip_vertical" type="bool" value="$(arg flip_vertical)" />
                <param name="loop_videofile" type="bool" value="$(arg loop_videofile)" />
                <param name="start_frame" type="int" value="$(arg start_frame)" />
                <param name="stop_frame" type="int" value="$(arg stop_frame)" />
            <param name="width" type="int" value="$(arg width)" />
            <param name="height" type="int" value="$(arg height)" />
        </node>
            <!-- disable compressed depth plugin for image transport -->
            <group ns="image_raw">
                <rosparam param="disable_pub_plugins">
                  - 'image_transport/compressedDepth'
                </rosparam>
            </group>

        <node if="$(arg visualize)" name="$(arg camera_name)_image_view" pkg="image_view" type="image_view">
            <remap from="image" to="image_raw" />
        </node>
    </group>

</launch>

To apply that solution. Note that I haven't tested this, but it should work.

Good luck!