F0712 16:55:25.590517 19922 ros_bridge.cpp:131] Unsupported pixel typergb8.

[DavidNY123]

Hello, when I run ultimate_slam with my davis346, I meet this error.

roslaunch ze_vio_ceres live_DAVIS240C.launch camera_name:=davis346.yaml >test

I0712 16:55:22.274123 19922 camera_rig.cpp:78] Camera rig contains a DVS camera
I0712 16:55:22.304968 19922 camera_rig.cpp:127] Ignoring cam distortion for camera with label: dvs and type: PinholeRadialTangential
I0712 16:55:22.573506 19922 camera_rig.cpp:177] Original camera intrinsics: [286.8101808196471, 0, 191.1683722041186;
0, 284.9691191001276, 129.4394970950159;
0, 0, 1]
I0712 16:55:22.573530 19922 camera_rig.cpp:178] Rescaled camera intrinsics: [-146.0299072265625, 0, 341.6474752201466;
0, -0.5575073957443237, 252.5758945497219;
0, 0, 1]
I0712 16:55:22.607000 19922 data_provider_factory.cpp:116] FLAGS_data_source = 2
I0712 16:55:22.610564 19922 camera_imu_synchronizer_base.cpp:68] t_cam = t_imu - 1716703 [ns]
F0712 16:55:25.590517 19922 ros_bridge.cpp:131] Unsupported pixel typergb8.
*** Check failure stack trace: ***
@ 0x7f77cfcc90cd google::LogMessage::Fail()
@ 0x7f77cfccaf33 google::LogMessage::SendToLog()
@ 0x7f77cfcc8c28 google::LogMessage::Flush()
@ 0x7f77cfccb999 google::LogMessageFatal::~LogMessageFatal()
@ 0x7f77cadc6f82 ze::toImageCpu()
@ 0x7f77ce88318c ze::DataProviderRostopic::imgCallback()
@ 0x7f774c5e65db image_transport::RawSubscriber::internalCallback()
@ 0x7f77cab8971e boost::detail::function::void_function_obj_invoker1<>::invoke()
@ 0x7f774c5ea791 ros::SubscriptionCallbackHelperT<>::call()
@ 0x7f77cf841e92 ros::SubscriptionQueue::call()
@ 0x7f77cf7ec559 ros::CallbackQueue::callOneCB()
@ 0x7f77cf7ee2fb ros::CallbackQueue::callAvailable()
@ 0x7f77ce882b5b ze::DataProviderRostopic::spinOnce()
@ 0x7f77ce85adb0 ze::DataProviderBase::spin()
@ 0x7f77cff2cc54 ze::VisualOdometry::startBlocking()
@ 0x55f42ef427ac main
@ 0x7f77ceaf1c87 __libc_start_main
@ 0x55f42ef42d2a _start
================================================================================REQUIRED process [ze_vio_ceres-1] has died!
process has died [pid 19922, exit code -6, cmd /home/mwy/rpg_ultimate_slam_open/devel/lib/ze_vio_ceres/ze_vio_ceres_node --data_source=2 # rostopic --vio_use_events=0 --vio_use_events_and_images=1 --vio_rescale_intrinsics_for_distortion=true --timeshift_cam_imu=0.0017167038720283018 --calib_filename=/home/mwy/rpg_ultimate_slam_open/src/rpg_ultimate_slam_open/applications/ze_vio_ceres/../../calibration/davis346.yaml --flagfile=/home/mwy/rpg_ultimate_slam_open/src/rpg_ultimate_slam_open/applications/ze_vio_ceres/cfg/vio_base.conf --flagfile=/home/mwy/rpg_ultimate_slam_open/src/rpg_ultimate_slam_open/applications/ze_vio_ceres/cfg/vio_davis.conf --data_size_augmented_event_packet=40000 # max number of events per event frame (should be >= vio_frame_size) --vio_frame_size=15000 # each event frame will be drawn with that number of events. --vio_do_motion_correction=1 --noise_event_rate=20000 --vio_frame_norm_factor=4.0 --vio_trace_pose=1 --log_dir=/tmp --vmodule=feature_tracker=0 --colorlogtostderr=1 --logtostderr=1 --alsologtostderr=1 --vio_viz_feature_tracks=true --vio_viz_feature_tracks_length=0 __name:=ze_vio_ceres __log:=/home/mwy/.ros/log/bf305d32-01bd-11ed-95af-cc153158c4f6/ze_vio_ceres-1.log].
log file: /home/mwy/.ros/log/bf305d32-01bd-11ed-95af-cc153158c4f6/ze_vio_ceres-1*.log
Initiating shutdown!

[YoungHaulk]

hello,I got the same question. How did you solve it?

[hebaoy]

me too

[hebaoy]

Maybe USLAM work in gray image ,davis's output are rgb image?

[YoungHaulk]

Just convert the RGB-image to grayscale-image, which can be changed in Davis346's driver. But I can't run uslam live. Can you run it?

…

------------------&nbsp;原始邮件&nbsp;------------------ 发件人: ***@***.***&gt;; 发送时间: 2022年11月1日(星期二) 下午2:30 收件人: ***@***.***&gt;; 抄送: ***@***.***&gt;; ***@***.***&gt;; 主题: Re: [uzh-rpg/rpg_ultimate_slam_open] F0712 16:55:25.590517 19922 ros_bridge.cpp:131] Unsupported pixel typergb8. (Issue #5) Maybe USLAM work in gray image ,davis's output are rgb image? — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you commented.Message ID: ***@***.***&gt;

[hebaoy]

Sorry, now, i have not a davis346 camera, so ,I don't run Uslam live.

[volkbay]

I got the same error with my DAVIS346 and solved it by switching to grayscale frame mode. If you have properly installed the driver (explained here), you may open the configuration by rosrun rqt_reconfigure rqt_reconfigure. Select the corresponding driver from the left panel, then select 'Grayscale' for 'frame_mode' dropdown menu.

P.S: For sanity check please launch ultimate slam event_only if you still have a problem with APS frames.