problem with kinect in gazebo

asked 2020-03-22 21:57:31 -0500

Carrot12138 gravatar image

updated 2020-04-03 04:41:13 -0500

hello,I am having a problem when doing the gazebo simulation with a kinect in it.The point cloud(pointcloud2) has some problem with a plane formed by the point cloud blocking in the view,which has a big impact on my work.When I add the value of horizontal_fov tag,the blocking plane goes remote.The kinect plugin setting is as follows.I really hope to get your advice.

<sensor type="depth" name="${prefix}">
          <always_on>true</always_on>
          <update_rate>20.0</update_rate>
          <camera>
              <horizontal_fov>1.5</horizontal_fov>
              <image>
                  <format>R8G8B8</format>
                  <width>640</width>
                  <height>480</height>
              </image>
              <clip>
                  <near>0.05</near>
                  <far>8.0</far>
              </clip>
          </camera>
          <plugin name="kinect_${prefix}_controller" filename="libgazebo_ros_openni_kinect.so">
              <cameraName>kinect</cameraName>
              <alwaysOn>true</alwaysOn>
              <updateRate>10</updateRate>
              <imageTopicName>rgb/image_raw</imageTopicName>
              <depthImageTopicName>kinect/image_raw</depthImageTopicName>
              <pointCloudTopicName>points</pointCloudTopicName>
              <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
              <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
              <frameName>kinect_link</frameName>
              <baseline>0.1</baseline>
              <distortion_k1>0.0</distortion_k1>
              <distortion_k2>0.0</distortion_k2>
              <distortion_k3>0.0</distortion_k3>
              <distortion_t1>0.0</distortion_t1>
              <distortion_t2>0.0</distortion_t2>
              <pointCloudCutoff>0.4</pointCloudCutoff>
          </plugin>
      </sensor>

The image with problem

edit retag flag offensive close merge delete

Comments

In the future, please use the 101010 button to properly format code snippets.

jarvisschultz gravatar image jarvisschultz  ( 2020-03-23 09:23:32 -0500 )edit

Thanks a lot,I will keep it in my mind

Carrot12138 gravatar image Carrot12138  ( 2020-03-25 21:19:09 -0500 )edit