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kinect (openni): pointcloud2. Object shadow appearing in rviz?

asked 2013-01-08 08:33:36 -0500

Andrius gravatar image

updated 2016-10-24 08:59:39 -0500

ngrennan gravatar image


I have a Kinect sensor displaying pointcloud2 data in rviz with RGB8 Color transformer mode using /camera/depth_registered/points topic. Image looks great except for a large shadow appearing offset of all objects within the Kinect's field of view.

I would like to remove this, as it would interfere with object detection I would assume?


Thanks in advance!

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answered 2013-01-08 09:42:17 -0500

updated 2013-01-08 17:59:55 -0500

Hi Andrius, welcome to ROS Answers.

I'm not 100% sure of exactly what you are seeing, but I think what you are talking about is just the natural result of occlusion. Think about it: the rays projected by the Kinect spread in a diverging pattern, so if there is an object in the foreground the stuff that is immediately around it in the 2D image is further away and therefore more spread out. As such, you can't remove it!

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answered 2013-01-09 08:13:48 -0500

Andrius gravatar image


Thank you for your response! That makes sense, and that is what I thought it was. But I see videos of pointcloud data being displayed seemingly without the "shadow" appearing. Would that have something to do with environment/distance/angle the kinect is looking at?

Thank you for your assistance. Andy

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I would say that is likely something to do with the distance of the objects in the Kinect field of view or that the point clouds you are looking at are not the raw output from the sensor but rather the result of some aligning process between sequential frames.

georgebrindeiro gravatar image georgebrindeiro  ( 2013-01-09 14:50:03 -0500 )edit

Those images are probably composed of data collected from multiple points of view.

joq gravatar image joq  ( 2013-01-09 15:01:30 -0500 )edit

Thanks guys, i'll play with distances and field of view and see if I can make improvements on the image being displayed, and eliminate the "shadow" I am seeing.

Andrius gravatar image Andrius  ( 2013-01-11 04:17:16 -0500 )edit

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Asked: 2013-01-08 08:33:36 -0500

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Last updated: Jan 09 '13