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When adding two Kinects only one depth image is published #779

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tofi89 opened this issue Jan 19, 2018 · 0 comments
Open

When adding two Kinects only one depth image is published #779

tofi89 opened this issue Jan 19, 2018 · 0 comments

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@tofi89
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tofi89 commented Jan 19, 2018

When adding to Kinects only one depth image is published.

Minimal builder file to reproduce the issue:

from morse.builder import *

robot = Morsy()

kinect1 = Kinect(name="kinect1")
kinect1.translate(0, -0.1, 3.7)
kinect1.rotate(0, math.pi/2.0, 0)
kinect1.add_stream('ros')

kinect2 = Kinect(name="kinect2")
kinect2.translate(0, 0.95, 0.7)
kinect2.rotate(0, 0, math.pi/2.0)
kinect2.add_stream('ros')

robot.append(kinect1)
robot.append(kinect2)

env = Environment('sandbox', fastmode = False)
env.set_camera_location([-18.0, -6.7, 10.8])
env.set_camera_rotation([1.09, 0, -1.14])

running rostopic list should show:

/robot/kinect1/rgb/camera_info
/robot/kinect1/rgb/image
/robot/kinect2/depth/camera_info
/robot/kinect2/depth/image
/robot/kinect2/rgb/camera_info
/robot/kinect2/rgb/image

Note that there is only one depth camera. Interestingly it also depends on the
call order in the builder script. If kinect2 is initialized directly after
kinect1 the problem didn't appear for me.

This seems to fix the problem:

--- a/src/morse/builder/sensors.py
+++ b/src/morse/builder/sensors.py
@@ -499,9 +499,9 @@ class Kinect(CompoundSensor):
         mesh.scale = (.02, .1, .02)
         mesh.color(.8, .8, .8)
         self.append(mesh)
-        self.video_camera = VideoCamera('rgb')
+        self.video_camera = VideoCamera(name + '.rgb')
         self.video_camera.properties(cam_width = 128, cam_height=128)
-        self.depth_camera = DepthCamera('depth')
+        self.depth_camera = DepthCamera(name + '.depth')
         self.depth_camera.properties(classpath='morse.sensors.depth_camera.DepthVideoCamera')
         self.depth_camera.properties(cam_width = 128, cam_height=128, Vertical_Flip=True)
         self.append(self.video_camera)

But I don't understand the full problem e.g. why only the depth camera is
affected and what changes when both are initialized right after another.


  • MORSE version: 1.4-147-gbd21e
  • Blender version: 2.76.0
  • Python version: 3.5.2
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