[Realsense T265] stereo_camera_model.cpp:35 issue

[gitsr-sys]

Hi. I am running T265 with the following launch file.

<group ns='stereo'>
    <node name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc" output='screen'>
    <param name="approximate_sync" value="True" />
    </node>
</group>

and I am trying to follow stereo_image_proc rostopic echo /camera/points2 does not show any output.

But I got the following error with $ rosrun image_view stereo_view stereo:=/stereo image:=image_rect

/image_geometry/src/stereo_camera_model.cpp:35: bool image_geometry::StereoCameraModel::fromCameraInfo(const CameraInfo&, const CameraInfo&): Assertion `left_.tfFrame() == right_.tfFrame()' failed.

Is there anyone who know the solution for this issue?

[JWhitleyWork]

This looks like it's saying that the frame_id field in the header of the images don't match. They must be the same.

[gitsr-sys]

@JWhitleyWork Thank you for your reply. I confirmed that T265's fisheye camera's frame_id is camera_fisheye1_optical_frame

What the header of the images should suppose to be? and which topic?

[gitsr-sys]

@JWhitleyWork here is update.

I make the same frame_id of T265's two fisheye cameras as camera_fisheye_optical_frame Then, when I run edited launch file which is shown the followings.

<launch>
    <remap from="/stereo/left/image_raw" to="/camera/fisheye1/image_raw"/>
    <remap from="/stereo/left/camera_info" to="/camera/fisheye1/camera_info"/>
    <remap from="/stereo/right/image_raw" to="/camera/fisheye2/image_raw"/>
    <remap from="/stereo/right/camera_info" to="/camera/fisheye2/camera_info"/>
    
    <group ns='stereo'>
        <node name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc" output='screen'>
        <param name="approximate_sync" value="True" />
        </node>
    </group>
</launch>

and when I echo /stereo/points2 I got this error.

[ WARN] [1608161695.586726659]: Color topic '/stereo/left/image_color' requested, but raw image data from topic '/camera/fisheye1/image_raw' is grayscale
terminate called after throwing an instance of 'image_geometry::Exception'
terminate called recursively
  what():  Cannot call rectifyImage when distortion is unknown.

Could you please help me to resolve this issue? I am using T265 camera now.

@vrabaud @wkentaro , could you please help me to resolve this issue?

[mikeferguson]

Configuration questions like this are generally better for https://robotics.stackexchange.com