stereo proc odd output

asked 2015-07-10 14:40:53 -0600

rnunziata gravatar image

updated 2015-07-10 16:36:25 -0600

I am running stereo proc to produce point cloud2 and display in rviz. The stereo data is comming from gazebo ros stereo plugin. The following image show the output of the rectified image and disparity display and the display in rviz. The rviz display is of the point cloud is very odd I can not understand what wold cause this. Does anyone have ideas on what would cause this behavior.

image description

I publish tf for rviz as follows:

  <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 1 map left_camera_optical_frame 100" />

gazebo sensor:

 <sensor type="multicamera" name="stereo_camera">
  <update_rate>30.0</update_rate>
  <pose>-0.1 0 0.2 0 0 0</pose>
  <camera name="left">
    <horizontal_fov>1.3962634</horizontal_fov>
    <image>
      <width>800</width>
      <height>800</height>
      <format>R8G8B8</format>
    </image>
    <clip>
      <near>0.02</near>
      <far>300</far>
    </clip>
    <noise>
      <type>gaussian</type>
      <mean>0.0</mean>
      <stddev>0.007</stddev>
    </noise>
  </camera>
  <camera name="right">
    <horizontal_fov>1.3962634</horizontal_fov>
    <image>
      <width>800</width>
      <height>800</height>
      <format>R8G8B8</format>
    </image>
    <clip>
      <near>0.02</near>
      <far>300</far>
    </clip>
    <noise>
      <type>gaussian</type>
      <mean>0.0</mean>
      <stddev>0.007</stddev>
    </noise>
  </camera>
  <plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
    <alwaysOn>true</alwaysOn>
    <updateRate>0.0</updateRate>
    <cameraName>stereo</cameraName>
    <imageTopicName>image_raw</imageTopicName>
    <cameraInfoTopicName>camera_info</cameraInfoTopicName>
    <frameName>left_camera_optical_frame</frameName>
    <hackBaseline>0.07</hackBaseline>
    <distortionK1>0.0</distortionK1>
    <distortionK2>0.0</distortionK2>
    <distortionK3>0.0</distortionK3>
    <distortionT1>0.0</distortionT1>
    <distortionT2>0.0</distortionT2>
  </plugin>
</sensor>
edit retag flag offensive close merge delete