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kinect rviz displays pointcloud 50 percent under the grid

asked 2017-03-06 14:46:56 -0500

mharms gravatar image

When I display the pointcloud from my kinect in rviz, one half of the pointcloud is displayed above the grid,and the other half unter it. I can't find out why. Hope that somebody can help me.

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answered 2017-03-06 15:05:11 -0500

William gravatar image

updated 2017-03-07 01:51:13 -0500

gvdhoorn gravatar image

The Kinect data is a cone, whose origin is in the center. The origin of the Kinect data is either in the same frame as the grid or very near it. The grid is just a reference, you can turn it off. It doesn't mean anything for it to be intersecting your Kinect data.

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Very true, but I can imagine that @mharms is trying to figure out why the pointcloud isn't 'world-aligned' (ie: oriented in a more 'logical' way).

@mharms: this has to do with TF, and the coordinate frame that the point cloud is being published in. How did you model your robot and your kinect?

gvdhoorn gravatar imagegvdhoorn ( 2017-03-07 01:52:21 -0500 )edit

Thank you for your comments.I found out, that the display of the pointcloud, was cased because the kinect was standing on a table and the robot was only a few inches high. If I put the kinect on the ground the projection of the pointcloud was like in reality.

mharms gravatar imagemharms ( 2017-03-07 14:02:23 -0500 )edit

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Asked: 2017-03-06 14:46:56 -0500

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Last updated: Mar 07 '17