kinect rviz displays pointcloud 50 percent under the grid

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

mharms
17 ●6 ●7 ●10

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

17335 ●101 ●182 ●262 http://wjwwood.io/

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

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

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

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