percipioxyz / camport_ros Goto Github PK

找不到rgbd_launch功能包

当我启动ros读取/camera/depth_registered/points节点的时候
并不能得到彩色点云
并且显示
[ INFO] [1589593395.256986780]: camera calibration URL: file:///home/ysj/.ros/camera_info/rgb_PercipioDepth_Percipio.yaml
[ INFO] [1589593395.257291666]: Unable to open camera calibration file [/home/ysj/.ros/camera_info/rgb_PercipioDepth_Percipio.yaml]
[ WARN] [1589593395.257428151]: Camera calibration file /home/ysj/.ros/camera_info/rgb_PercipioDepth_Percipio.yaml not found.
请问这个怎么解决呢

when i use "roslaunch openni2_launch openni2.launch", there are some error.
but do not influence the result of use(不影响正常使用-_-）.

[ INFO] [1470988614.408921551]: Device "1" found.
PercipioDriver::deviceOpen, uri = 1
141969 VERBOSE no processor for this packet
144500 VERBOSE deviceparam packet accepted
144525 INFO waiting device...
144536 VERBOSE no processor for this packet
144740 VERBOSE no processor for this packet
154443 VERBOSE deviceparam packet accepted
154485 INFO no custom config data
154500 VERBOSE no processor for this packet
154751 VERBOSE no processor for this packet
164461 VERBOSE deviceparam packet accepted
164522 VERBOSE no processor for this packet
164979 VERBOSE no processor for this packet
174455 VERBOSE deviceparam packet accepted
174526 VERBOSE no processor for this packet
174805 VERBOSE no processor for this packet
184428 VERBOSE deviceparam packet accepted
PercipioDriver: success to open device!
184487 VERBOSE no processor for this packet
184825 VERBOSE no processor for this packet
[ERROR] [1470988614.493288397]: Unsupported IR video mode - Resolution: 640x480@30Hz Format: Gray16
[ERROR] [1470988614.493372955]: Unsupported color video mode - Resolution: 640x480@30Hz Format: RGB888
DEBUG: PercipioDevice::createStream
DEBUG: PercipioDevice::createStream, return pImage 0x1fbd520

camport_ros/openni2_camera/src/openni2_device.cpp:664:55: error: ‘ONI_DEVICE_PROPERTY_CALIB_INTRISTIC’ was not declared in this scope
if (openni::STATUS_OK != openni_device_->getProperty(ONI_DEVICE_PROPERTY_CALIB_INTRISTIC, (void*)data, size))

My device is DS462, the problem is:

[ INFO] [1541856553.614585027]: No matching device found.... waiting for devices. Reason: std::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /home/dpf/workspace/camport_ros-master/src/openni2_camera/src/openni2_driver.cpp @ 716 : Invalid device number 11, there are 0 devices connected.

Hope your help

Hello there, my camera is FM810, and use it in ROS kinetic, when I run ``roslaunch openni2_launch openni2.launch , the rgb and depth image is OK, but when I want rgb cloud and run roslaunch openni2_launch openni2.launch depth_registration:=true` the RGB cloud is freeze and the console print "Failed to percipio projection file, /etc/openni2/percipio_registration.txt" what context should I put in this file. Could you kindly provide an example, thank in advance!

change to :
DepthImageToLaserScanNodelet.cpp:
PLUGINLIB_EXPORT_CLASS(depthimage_to_laserscan::DepthImageToLaserScanNodelet, nodelet::Nodelet)
openni2_camera_nodelet.cpp:
PLUGINLIB_EXPORT_CLASS(openni2_camera::OpenNI2DriverNodelet, nodelet::Nodelet)