Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

stereo proc odd output

I am running stereo proc to produce point cloud2 and display in rviz. The stereo data is comming from gazebo ros stereo plugin. The following image show the output of the rectified image and disparity display and the display in rviz. The rviz display is of the point cloud is very odd I can not understand what wold cause this. Does anyone have ideas on what would cause this behavior.

image description

stereo proc odd output

I am running stereo proc to produce point cloud2 and display in rviz. The stereo data is comming from gazebo ros stereo plugin. The following image show the output of the rectified image and disparity display and the display in rviz. The rviz display is of the point cloud is very odd I can not understand what wold cause this. Does anyone have ideas on what would cause this behavior.

image description

I publish tf for rviz as follows:

 <node pkg="tf" type="static_transform_publisher" name="link1" args="1 0 0 0 0 0 1 odom rrbot/camera_frame 100" />

gazebo sensor:

 <sensor type="multicamera" name="stereo_camera">
  <update_rate>30.0</update_rate>
  <pose>-0.1 0 0.2 0 0 0</pose>
  <camera name="left">
    <horizontal_fov>1.3962634</horizontal_fov>
    <image>
      <width>800</width>
      <height>800</height>
      <format>R8G8B8</format>
    </image>
    <clip>
      <near>0.02</near>
      <far>300</far>
    </clip>
    <noise>
      <type>gaussian</type>
      <mean>0.0</mean>
      <stddev>0.007</stddev>
    </noise>
  </camera>
  <camera name="right">
    <horizontal_fov>1.3962634</horizontal_fov>
    <image>
      <width>800</width>
      <height>800</height>
      <format>R8G8B8</format>
    </image>
    <clip>
      <near>0.02</near>
      <far>300</far>
    </clip>
    <noise>
      <type>gaussian</type>
      <mean>0.0</mean>
      <stddev>0.007</stddev>
    </noise>
  </camera>
  <plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
    <alwaysOn>true</alwaysOn>
    <updateRate>0.0</updateRate>
    <cameraName>stereo</cameraName>
    <imageTopicName>image_raw</imageTopicName>
    <cameraInfoTopicName>camera_info</cameraInfoTopicName>
    <frameName>left_camera_optical_frame</frameName>
    <hackBaseline>0.07</hackBaseline>
    <distortionK1>0.0</distortionK1>
    <distortionK2>0.0</distortionK2>
    <distortionK3>0.0</distortionK3>
    <distortionT1>0.0</distortionT1>
    <distortionT2>0.0</distortionT2>
  </plugin>
</sensor>

stereo proc odd output

I am running stereo proc to produce point cloud2 and display in rviz. The stereo data is comming from gazebo ros stereo plugin. The following image show the output of the rectified image and disparity display and the display in rviz. The rviz display is of the point cloud is very odd I can not understand what wold cause this. Does anyone have ideas on what would cause this behavior.

image description

I publish tf for rviz as follows:

  <node pkg="tf" type="static_transform_publisher" name="link1" name="link1_broadcaster" args="1 0 0 0 0 0 1 odom rrbot/camera_frame map left_camera_optical_frame 100" />

gazebo sensor:

 <sensor type="multicamera" name="stereo_camera">
  <update_rate>30.0</update_rate>
  <pose>-0.1 0 0.2 0 0 0</pose>
  <camera name="left">
    <horizontal_fov>1.3962634</horizontal_fov>
    <image>
      <width>800</width>
      <height>800</height>
      <format>R8G8B8</format>
    </image>
    <clip>
      <near>0.02</near>
      <far>300</far>
    </clip>
    <noise>
      <type>gaussian</type>
      <mean>0.0</mean>
      <stddev>0.007</stddev>
    </noise>
  </camera>
  <camera name="right">
    <horizontal_fov>1.3962634</horizontal_fov>
    <image>
      <width>800</width>
      <height>800</height>
      <format>R8G8B8</format>
    </image>
    <clip>
      <near>0.02</near>
      <far>300</far>
    </clip>
    <noise>
      <type>gaussian</type>
      <mean>0.0</mean>
      <stddev>0.007</stddev>
    </noise>
  </camera>
  <plugin name="stereo_camera_controller" filename="libgazebo_ros_multicamera.so">
    <alwaysOn>true</alwaysOn>
    <updateRate>0.0</updateRate>
    <cameraName>stereo</cameraName>
    <imageTopicName>image_raw</imageTopicName>
    <cameraInfoTopicName>camera_info</cameraInfoTopicName>
    <frameName>left_camera_optical_frame</frameName>
    <hackBaseline>0.07</hackBaseline>
    <distortionK1>0.0</distortionK1>
    <distortionK2>0.0</distortionK2>
    <distortionK3>0.0</distortionK3>
    <distortionT1>0.0</distortionT1>
    <distortionT2>0.0</distortionT2>
  </plugin>
</sensor>