Gazebo Kinect plugin flickering

asked 2019-09-04 16:45:20 -0500

Marseiliais gravatar image

Im using plugin code from gazebosim

<gazebo reference="camera_link">   <sensor name="kinect_camera" type="depth">
    <update_rate>40</update_rate>
    <visualize>true</visualize>
    <camera>
      <horizontal_fov>1.047198</horizontal_fov>
      <image>
        <width>640</width>
        <height>480</height>
        <format>R8G8B8</format>
      </image>
      <clip>
        <near>0.05</near>
        <far>3</far>
      </clip>
    </camera>
    <plugin name="kinect_controller" filename="libgazebo_ros_openni_kinect.so">
      <baseline>0.2</baseline>
      <alwaysOn>true</alwaysOn>
      <updateRate>1.0</updateRate>
      <cameraName>kinect_camera_ir</cameraName>
      <imageTopicName>/kinect_camera/depth/image_raw</imageTopicName>
      <cameraInfoTopicName>/kinect_camera/depth/camera_info</cameraInfoTopicName>
      <depthImageTopicName>/kinect_camera/depth/image_raw</depthImageTopicName>
      <depthImageInfoTopicName>/kinect_camera/depth/camera_info</depthImageInfoTopicName>
      <pointCloudTopicName>/kinect_camera/depth/points</pointCloudTopicName>
      <frameName>kinect_frame</frameName>
      <pointCloudCutoff>0.5</pointCloudCutoff>
      <pointCloudCutoffMax>3.0</pointCloudCutoffMax>
      <distortionK1>0.00000001</distortionK1>
      <distortionK2>0.00000001</distortionK2>
      <distortionK3>0.00000001</distortionK3>
      <distortionT1>0.00000001</distortionT1>
      <distortionT2>0.00000001</distortionT2>
      <CxPrime>0</CxPrime>
      <Cx>0</Cx>
      <Cy>0</Cy>
      <focalLength>0</focalLength>
      <hackBaseline>0</hackBaseline>
    </plugin>   </sensor> </gazebo>

and when im using command

rosrun image_view image_view image:=/kinect_camera/depth/image_raw

the image is flickering and changing colours. Do u know where is my problem?

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