stereo_image_proc does not generate pointcloud
I am trying to use stereo_image_proc
with a realsense T265 camera in order to get a pointcloud from it.
According with documentation here, I verified that after running realsense driver the following messages are published (and images are properly displayed):
/camera/fisheye1/image_raw
/camera/fisheye1/camera_info
/camera/fisheye2/image_raw
/camera/fisheye2/camera_info
Then I run stereo_image_proc
node with using a launch file as follow:
<launch>
<remap from="/camera/left/image_raw" to="/camera/fisheye1/image_raw"/>
<remap from="/camera/left/camera_info" to="/camera/fisheye1/camera_info"/>
<remap from="/camera/right/image_raw" to="/camera/fisheye2/image_raw"/>
<remap from="/camera/right/camera_info" to="/camera/fisheye2/camera_info"/>
<group ns='camera'>
<node name="stereo_image_proc" pkg="stereo_image_proc" type="stereo_image_proc" output='screen'/>
</group>
</launch>
I don't get any error, but rviz
doesn't show the pointcloud (only a point in zero appears).
A rostopic echo /camera/points2
command shows data as below:
[..., 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, ...]
And if I run rosrun image_view stereo_view stereo:=/camera image:=image_rect_color
, everything seems to work well.
Am I missing anything else in order to get the pointcloud?
Asked by jcgarciaca on 2019-09-16 13:25:34 UTC
Comments
Possibly related to this old issue in
ros-perception/image_pipeline
: https://github.com/ros-perception/image_pipeline/issues/290Asked by _npaul on 2019-12-18 11:26:10 UTC
are you able to solve this issue?
Asked by Kolohe113 on 2020-08-12 13:14:05 UTC
Does [this](https://answers.ros.org/question/321282/disparity-image-is-displayed-but-pointcloud-shows-only-a-small-dot-in-rviz/?answer=381311#post-id-381311) answer help?
Asked by LSD on 2021-06-29 02:30:08 UTC