Unable to convert 'rgb8' image for display: 'Image is wrongly formed: height * step != size or 1080 * 5760 != 6266880'

[aviogit]

I tried to create a new launch file with 1920x1080 resolution for capture. Here it is, to me it looks good.

#> cat launch/camera_module_v2_1920x1080_30fps_autocapture.launch 
<?xml version="1.0"?>
<launch>
  <arg name="name" default="raspicam_node" />
  <node type="raspicam_node" pkg="raspicam_node" name="$(arg name)" output="screen">
 
    <param name="camera_info_url" value="package://$(arg name)/camera_info/camera_module_v2_1920x1080.yaml"/>
    <param name="width" value="1920"/>
    <param name="height" value="1080"/>
    <param name="framerate" value="30"/>
    <param name="camera_frame_id" value="raspicam"/>

  </node>
  
  <node pkg="rosservice" type="rosservice" name="start_capture" args="call --wait $(arg name)/start_capture"/>

</launch>

However, when I try to subscribe to image_raw, both on the Pi3 or remotely, I get this error

[ERROR] [1520855482.326728991]: Unable to convert 'rgb8' image for display: 'Image is wrongly formed: height * step != size  or  1080 * 5760 != 6266880'

And it seems to make sense, given that 6266880 is really the msg.data.size() coming from raspicam_node.cpp:277

if(buffer->flags & (MMAL_BUFFER_HEADER_FLAG_FRAME_END | MMAL_BUFFER_HEADER_FLAG_TRANSMISSION_FAILED)){
			sensor_msgs::Image msg;
			msg.header.seq = pData->frame;
			msg.header.frame_id = tf_prefix;
			msg.header.frame_id = camera_frame_id;
			msg.header.stamp = ros::Time::now();
			msg.height = pData->pstate->height;
			msg.width = pData->pstate->width;
			msg.encoding = "rgb8";
			msg.is_bigendian = 0;
			msg.step = pData->pstate->width*3;
			msg.data.insert( msg.data.end(), pData->buffer[pData->frame & 1], &(pData->buffer[pData->frame & 1][pData->id]) );
			image_pub.publish(msg);
			c_info.header.seq = pData->frame;
			c_info.header.stamp = msg.header.stamp;
			c_info.header.frame_id = msg.header.frame_id;
			camera_info_pub.publish(c_info);
			pData->frame++;
			pData->id = 0;
}

And before publishing, if I add:

msg.data.resize(msg.data.size()-46080);

the topic becomes valid and the image is correctly shown by image_view. Any idea on how to correctly fix this issue?

[rainfall1998]

hi did u get this solved?

[ArkadiuszNiemiec]

The problem is that raspicam_node saves the resolution from launchfile but raspivid is cheating and changing it by itself. The raspicam_node should check what the raspivid is returning and correcting set resolution accordingly.
Example: I have set a 1640x1232 resolution but raspivid returned a data with size equal to 6091008 instead of 6061440. To fix it I have changed the resolution in config to 1648x1232.