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realsense depthimage to laserscan

asked 2017-09-01 12:44:53 -0500

krishna43 gravatar image

Hello all,

I recently got a realsense R200 sensor. I was able to follow this tutorial and able to get data from the realsense. But I want to get laserscan data from the realsense. So I followed this tutorial.

This is the command I used to convert depthimage to laserscan

rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/depth/image_raw camera_info:/camera/depth/camera_info

I am able to see the scan data, but there are way too many NaN values in the data. I tried to figure out why it was happening, but I was not able to. Can someone please help me?

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When I used the RealSense R200 I also had many NaN values. Same thing with two different boards and different R200's, although one of the boards was better than the other.

jayess gravatar image jayess  ( 2017-09-01 14:01:13 -0500 )edit

How did you solve it? @jayess

krishna43 gravatar image krishna43  ( 2017-09-01 14:54:35 -0500 )edit

We went with the board (TK1?) that gave us less NaN values. So, we didn't really solve it, but accepted it.

jayess gravatar image jayess  ( 2017-09-01 14:56:09 -0500 )edit

oh wow! I thought it was the problem with the depthto_laserscan code I am using. Thanks.

krishna43 gravatar image krishna43  ( 2017-09-01 15:00:46 -0500 )edit

I can't say for sure what the problem is or isn't. Just be aware that it may be something less obvious like what I mentioned.

jayess gravatar image jayess  ( 2017-09-01 15:08:50 -0500 )edit

when you guys moved to TK1, are you still using depthto_laserscan node to get the scan data?

krishna43 gravatar image krishna43  ( 2017-09-01 15:37:29 -0500 )edit

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answered 2018-07-04 13:54:01 -0500

srnand gravatar image

http://wiki.ros.org/depthimage_to_las... this thing says under published topics that there may be NaN values.

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Asked: 2017-09-01 12:44:53 -0500

Seen: 1,593 times

Last updated: Jul 04 '18