disabling hardware depth registration leads to error

[130s]

Issue by bit-pirate
Monday Sep 23, 2013 at 02:59 GMT
Originally opened as ros-drivers/openni2_launch#9

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When I deactivated depth registration via rqt_reconfigure, I get the following error:

[ERROR] [1379904975.770528069]: Depth image frame id [sensor_3d_depth_optical_frame] doesn't match RGB image frame id [sensor_3d_rgb_optical_frame]

Can anyone confirm this? What's different to the old version (openni1)?

[130s]

Comment by bit-pirate
Monday Sep 23, 2013 at 03:05 GMT

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Maybe @piyushk knows what's going wrong.

[130s]

Comment by piyushk
Monday Sep 23, 2013 at 16:56 GMT

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@bit-pirate I don't have anything other than a kinect at hand at the moment, so I can't test this directly. Can you try and locate which nodelet is generating this error?

[130s]

Comment by bit-pirate
Tuesday Sep 24, 2013 at 04:15 GMT

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It's the registration nodelet (PointCloudXyzrgbNodelet) complaining:

Depth image frame id [sensor_3d_depth_optical_frame] doesn't match RGB image frame id [sensor_3d_rgb_optical_frame]

Location:
/tmp/buildd/ros-hydro-depth-image-proc-1.11.2-0precise-20130909-1058/src/nodelets/point_cloud_xyzrgb.cpp:PointCloudXyzrgbNodelet::imageCb:167

Looks to me like the driver is outputting images or point clouds with different reference frames, when not using hardware registration.

[130s]

Comment by piyushk
Tuesday Sep 24, 2013 at 15:32 GMT

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I suspect the s/w registration pipeline is broken somehow. Once s/w
registered, the depth image should have the RGB image frame id. I'm not
sure how the driver could make this mistake.

On Mon, Sep 23, 2013 at 11:15 PM, Marcus Liebhardt <[email protected]

wrote:

It's the registration nodelet (PointCloudXyzrgbNodelet) complaining:

Depth image frame id [sensor_3d_depth_optical_frame] doesn't match RGB image frame id [sensor_3d_rgb_optical_frame]

Location:
/tmp/buildd/ros-hydro-depth-image-proc-1.11.2-0precise-20130909-1058/src/nodelets/point_cloud_xyzrgb.cpp:PointCloudXyzrgbNodelet::imageCb:167

Looks to me like the driver is outputting images or point clouds with
different reference frames, when not using hardware registration.

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Reply to this email directly or view it on GitHubhttps://github.com/ros-drivers/openni2_launch/issues/9#issuecomment-24973657
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[130s]

Comment by mikeferguson
Wednesday Sep 25, 2013 at 18:35 GMT

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@bit-pirate you mention "disable via rqt" -- does software registration work correctly if you start up in that mode?

[130s]

Comment by liborw
Tuesday Oct 01, 2013 at 08:07 GMT

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I have the same problem when started without the hardware registration (not using the dynamic reconfigure).

[130s]

Comment by liborw
Tuesday Oct 01, 2013 at 08:46 GMT

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The problem is, that one must also set hw_registered_processing to false and sw_registered_processing to true along with the depth_registration to false. That way everything works fine.

[saikishor]

@130s @liborw I am having the same issue, but when setting the depth registration to false via rqt_reconf. If I set it directly when I run my node, there is no such issue. I would like to know whether this issue has been resolved or not?.

[130s]

Assuming from the last update on this ticket was back in 2013, very few people have had either experienced this issue or been interested in tracking this down. So it'd be great if you @saikishor can look into it deeper, and come up with a workaround to the least (or open a fix via pull request to the best).