stereo_image_proc does not generate pointcloud

asked 2019-09-16 13:25:34 -0500

jcgarciaca gravatar image

updated 2019-09-17 10:32:10 -0500

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).

image description

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.

image description

Am I missing anything else in order to get the pointcloud?

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