Colored KinFu raising Error -213 "Not implemented in function 'integrate'", Request for minimal example

C++
1

I tried to use the colored_kinfu with the realsense D455. I am not sure if I have everything set up correctly (hence not submitting an issue yet), but I would like some help with having the algorithm running.

Here’s the relevant snippet of my code:

using namespace cv;
using namespace cv::kinfu;

Ptr<ColoredKinFu> kf;
kf = ColoredKinFu::create(params); // params are some parameters

// d and rgb are data acquired from the depth camera

Mat H_depth(depth_h, depth_w, CV_16UC1, (void*)d.get_data());
UMat D_depth(depth_h, depth_w, CV_16UC1);
H_depth.copyTo(D_depth);
H_depth.release();

Mat H_rgb(rgb_h, rgb_w, CV_8UC3, (void*)rgb.get_data());
UMat D_rgb(rgb_h, rgb_w, CV_8UC3);
H_rgb.copyTo(D_rgb);
H_rgb.release();

bool success = kf->update(D_depth, D_rgb); // this line causes the error
// opencv_contrib-4.5.5/modules/rgbd/src/tsdf.hpp:105: error: (-213:The function/feature is not implemented) Not implemented in function 'integrate'

If somebody can explain what I did wrong, or provide an minimal working example of calling the update function I would really appreciate it.

If I need to provide any additional information, please let me know. Thanks in advnace!

2

most likely this is not your fault.
please check, if the colored kinfu sample shows the same problem (i bet it will) , then indeed raise an issue (as this needs talking to the author(s) of it)

3

I did check out the sample, and the sample was able to run without errors. In my code, I changed the params from defaultParams to coloredTSDFParams, which fixed this error.

However, there is still a major bug I am struggling with. I have displayed the point cloud (in MeshLab) of a scene with a red chair scanned with colored-kinfu and it looks like this

image
image1168×822 274 KB

As you can see, the colors are there but mismatched with the wrong points. The code I used is linked here (3dmapping/rs-kinfu.cpp at master · jonah-chen/3dmapping · GitHub).

I used the ColoredKinFu::getCloud(OutputArray,OutputArray,OutputArray) function in colored_kinfu.hpp. Are the order of the list of points in the points, normals, and colors in the same order? as my experiments suggests otherwise, although there may be a bug in my code.

The code in the sample you sent me seems to work fine, but it never used the colors output in getCloud (as it does have a default value of noArray. I wonder if I am doing something wrong here if my objective is to output the XYZRGB info to a file.

Thank you in advance!