Noise when using Orbbec Astra

I'm using the Orbbec Astra on my DLR (Like Turtlebot2, running Nvida Jetson Tk1 as CPU). When I run it with TURTLEBOT3DSENSOR="asusxtionpro" the 3D Depth Cloud looks good. When I run it with TURTLEBOT3DSENSOR="astra" I get strange noise. Obviously I can continue to run it with asusxtionpro, but, it loads the wrong model etc.. Why is it giving so much noise? How can this be fixed?

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Asked by Connor on 2017-01-30 01:14:05 UTC

Comments

I think you have to use the OpenNI2 module from Orbbec themselves. http://www.orbbec3d.net/Tools_SDK_OpenNI/2-Linux.zip

I've been trying to get this sensor working on a Pi (Failed thus far) but from what I've read there is a dev branch which has a filter in to solve this issue

Asked by MarkyMark2012 on 2017-01-30 04:02:40 UTC

Bit more info here:

https://3dclub.orbbec3d.com/t/astra-openni2-under-arm-platform-raspberry-pi-2-ubuntu-14-04/282

Asked by MarkyMark2012 on 2017-01-30 04:02:53 UTC

I came across that. What I don't understand is. Why it okay when it thinks it's a Asus Xtion Pro? This robot came pre-installed with ROS and everything.. so it's possible they installed a new OpenNI2 module that fixed the issue, by using TURTLEBOT_3D_SENSOR="astra" it's pointed to the old one?

Asked by Connor on 2017-01-30 10:04:28 UTC