Error when calling create_source with OpenNISubscriber as 2nd argument

[corot]

Hi, not sure if this is an issue at all, or I'm just trying to over abuse camera_base. Feel free to close this if so!

I'm trying to run object_recognition_capture orb_template with a non OpenNI camera (see this post on ORK group), so I pass OpenNISubscriber to create_source instead of OpenNISource (and also remove the mask_depth from the outputs_list). But I get an error complaining that this is not a ROS node:

$ rosrun object_recognition_capture orb_template -o my_textured_plane
INIT
Listening for key: s on imshow:save
[FATAL] [1426455554.600357664]: You must call ros::init() before creating the first NodeHandle
Couldn't find an AF_INET address for []
Couldn't find an AF_INET address for []
[ERROR] [1426455554.601597709]: [registerPublisher] Failed to contact master at [:0].  Retrying...
Couldn't find an AF_INET address for []
Couldn't find an AF_INET address for []
......

I crudely tried to call rospy.init_node but changes nothing. So it's really a missing ros::init() in a C++ ecto cell?
Please note that I'm trying to use ORK in an undocumented way, so... it's probably that I'm just trying something stupid without understanding the ecto_image_pipeline.

[stonier]

Did you call something like:

ecto_ros.init(sys.argv, "my_node_name", anonymous=False)

from somewhere in your python script? This initialises the underlying c++ node.

[corot]

right. danke!

Still doesn't work but now is opencv complaining about some incompatibilities between images. Maybe there's something weird on the creation of the cv::Mat, or maybe is some exotic property on Senz3D generated images.

OpenCV Error: Assertion failed (0 <= _rowRange.start && _rowRange.start <= _rowRange.end && _rowRange.end <= m.rows) in Mat, file /build/buildd/opencv-2.4.8+dfsg1/modules/core/src/matrix.cpp, line 284
Traceback (most recent call last):
  File "/opt/ros/indigo/lib/object_recognition_capture/orb_template", line 115, in <module>
    run_plasm(options, plasm, locals=vars())
  File "/opt/ros/indigo/lib/python2.7/dist-packages/ecto/opts.py", line 85, in run_plasm
    sched.execute(options.niter)
ecto.CellException:            exception_type  CellException
[cell_name] = Source

[cell_type] = ecto::py::BlackBox

[function_name] = process_with_only_these_inputs

[type] = std::runtime_error

[what] =            exception_type  CellException
[cell_name] = RescaledRegisteredDepth

[cell_type] = RescaledRegisteredDepth

[function_name] = process_with_only_these_inputs

[type] = cv::Exception

[what] = /build/buildd/opencv-2.4.8+dfsg1/modules/core/src/matrix.cpp:284: error: (-215) 0 <= _rowRange.start && _rowRange.start <= _rowRange.end && _rowRange.end <= m.rows in function Mat

[stonier]

You could be running into the same problem on ecto 0.6.8 as being hunted in plasmodic/ecto#272. As it is there, suspicious that you're dropping into process_with_only_these_inputs.

Get the ecto sources and checkout the 0.6.7 tag to make sure.

[corot]

mmm.... don't think so, as it works for the images provided by kinect (well... actually, it also fails but something different and later.
I'll try ecto sources, anyway. Thanks!

confirmed : it also fails with 0.6.7 tag. Must be an issue with the Senz3D BGR format. Maybe it's just too big! (the resolution is 720x1280)