ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange
Ask Your Question

"Double vision" in rviz

asked 2019-08-28 08:23:27 -0500

mun gravatar image

updated 2019-08-30 07:11:39 -0500


I'm testing out a RGBD camera and rviz, but I've noticed that I'm getting "double vision" in PointCloud2. This is me holding up one finger:

image description

As you can see, there's a clone of the shadow of my hand and finger. Does anyone know why this might be the case?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2019-08-28 10:44:55 -0500

ct2034 gravatar image

updated 2019-08-30 06:28:29 -0500

There is no double vision for your finger. The actual representation of your finger is the (single) red one, below. You get two fingers shown in the background, because of the way these cameras work. You can think of these as shadows of your real finger.

The device projects an IR pattern onto the scene and captures it, then. So one shadow comes from your finger blocking the projector (so no IR patter is behind your finger) the other one comes from your finger blocking the view of the camera (it can see no pattern behind your finger). Since camera and projector are mounted at an angle, you end up with two shadows.

Explanation of the camera:

edit flag offensive delete link more

Question Tools

1 follower


Asked: 2019-08-28 08:23:27 -0500

Seen: 223 times

Last updated: Aug 30 '19