Breaking detection iterations, because of missing depth about rgbdslam_v2 HOT 3 OPEN

For stereo the data an image synced with a pointcloud is received here
and a depth image is computed from the cloud here. This doesn't seem to work, as this function says there are no depth values in your cloud.

Not sure why it crashes then. I don't have time to investigate. As a quick fix, I recommend you insert the check for depth-less cloud/depth-image somewhere here and just abort processing of that image+cloud in that case (just return from stereoCallback()).

from rgbdslam_v2.

Thanks! Turns out the problem isn't related to the depth image. I implemented your fix and it skips depth-less depth images, but when the depth image isn't empty, it throws the same warning and opencv error and then crashes (re-copied below for clarity). We'll keep looking into it ourselves, but if you have any ideas we would be grateful.

`[ WARN] [1607436291.753501698, 24.719500000]: "openni_rgb_optical_frame" passed to lookupTransform argument target_frame does not exist.
[ WARN] [1607436291.753555448, 24.719500000]: Using Standard kinect /openni_camera -> /openni_rgb_optical_frame as transformation (This message is throttled to 1 per 5 seconds)
OpenCV Error: Assertion failed (i1 >= 0 && j < ndsts && dst[j].depth() == depth) in mixChannels, file /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/core/src/convert.cpp, line 614
terminate called after throwing an instance of 'cv::Exception'
what(): /tmp/binarydeb/ros-kinetic-opencv3-3.3.1/modules/core/src/convert.cpp:614: error: (-215) i1 >= 0 && j < ndsts && dst[j].depth() == depth in function mixChannels

REQUIRED process [rgbdslam-25] has died!
`

from rgbdslam_v2.

Then, the best first step is finding out where the error occurs. Try obtaining a stack trace. Either run rgbdslam in gdb (see here for to do it with a launch file), or enable core dumps (ulimit -c unlimited) and inspect it with gdb (gdb /path/to/rgbdslam ./core). In gdb "bt" will give you the backtrace. You may need to switch to the respective thread first.

from rgbdslam_v2.