extremely slow point cloud messages and point cloud only at camera

asked 2022-04-27 10:35:31 -0600

MrOCW gravatar image

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Hi I am trying to get a decent disparity image and display the point cloud using 2 rasp pi cameras and gstreamer. The image on the right is the disparity image. Is that considered a decent disparity image? I am under the impression that the whole image or at least a majority of the image should be filled with colours like the tutorial here http://wiki.ros.org/stereo_image_proc...

Another problem is that the point cloud messages are not being received properly? rostopic hz stereo/points2 mostly shows "no new messages" and occasionally "average rate: 0.071 min: 5.232s max: 72.679s std dev: 16.59350s window: 31" when displayed in rviz with decay time set to 10000 for debugging, it shows the point right at the left lens. the frame_id in the camera calibration files matches the tf of the left camera link as well. Any help is appreciated. Thank you.

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