RealSense D435 FOV disceprancy of depth cloud and laser of depthimage_to_laserscan

asked 2020-04-13 18:49:44 -0600

cheesee61 gravatar image

Hello guys,

I am using an Intel Realsense D435 depth camera with the realsense2_camera package , converted the depth cloud to a laserscan via depthimage_to_laserscan package.

I launch the camera with

roslaunch realsense2_camera rs_camera.launch align_depth:=True

and the laserscan with

rosrun depthimage_to_laserscan depthimage_to_laserscan image:=/camera/aligned_depth_to_color/image_raw

to get the depth module aligned with the RGB module, so pixel XY in depth corresponds to the same pixel in RGB. When I show both the depth cloud and laserscan in rviz, there is a difference regarding the FOV. That difference happens when I choose the aligned_depth_to_color topic for the depth cloud display in rviz, but not when I use the regular depth topic, which is not aligned. According to Intel, the D435 has a horizontal FOV of approx. 87° for the depth module, which I can pretty much confirm for the first image below/aligned_depth_to_cloud. An echo to /scan topic shows me

angle_min: -0.473687112331
angle_max: 0.481075167656

which is approx. 54° in sum.

Its obviously logical, that the FOV decreases when it's aligned to the RGB module. But why is rviz showing me a wider FOV for the aligned topic and narrower for the not_aligned topic, it should be exactly the opposite??

depth aligned to color not aligned

The first picture is depth aligned to color, where the depth cloud is clearly wider.

The second picture is not aligned; it isn't noticeable, but from a different angle you can see that they have the same width

Thx in advance

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Comments

I have a similar problem. Did you manage to transform the "rosrun depthimage_to_laserscan depthimage_to_laserscan image: = / camera / aligned_depth_to_color / image_raw" into a launch file?

Strong30Impact gravatar image Strong30Impact  ( 2020-08-10 10:58:19 -0600 )edit