0
$\begingroup$

Rviz/rtabmap, flat pointcloud

Hey guys,

I'm trying to simulated a test setup with gazebo. I have a depth camera, rgbd_cammera added to my model and bridged the topics: color/image_raw, depth/image_raw, camera_info, /color/points to ROS2. In RVIZ they look alright, except the range of the depth image is off. I have to manually set max value within rviz to get a image otherwise it is just black.

Because of this(I think) Rtabmap doesn't register the depths correctly and shows me an almost flat pointcloud. Any parameters I can set so it normalizes the range of the depth images?

Thanks in advance!

Improve this question
$\endgroup$

1 Answer 1

Reset to default
0
$\begingroup$

It looks like the calibration topic is wrong. Is the resolution set in the camera_info the same than the actual image? Are the fx,fy,cx,cy components make sense in P matrix? For example, cx and cy should be approximately half of the resolution width and height respectively.

Improve this answer
$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Not the answer you're looking for? Browse other questions tagged or ask your own question.