ros_astra_camera
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orbbec
Strange bright pixels on the edge of depth image
Hello,
I have been experiencing a strange issue on my pointcloud, which has a ray (sometimes multiple rays) on the edge of the scene. After checking the depth image from the Astra camera, I found incorrect bright pixels, indicating the gradually increasing depth values, on the edge of the depth image.
Pointcloud:
Depth Image:
Does anyone has a clue where it could go wrong?
how many devices on this condition? this look like a hardware issues, pls feed back it on https://3dclub.orbbec3d.com/. some people will contact you, thx!
刘华 座机：0755-86329228 转 8173 邮箱：[email protected] 手机：13603061506 深圳奥比中光科技有限公司 www.orbbec.com.cn 地址：深圳市南山区学府路63号高新区联合总部大厦12楼
From: Maverobot Date: 2017-12-14 17:24 To: orbbec/ros_astra_camera CC: Subscribed Subject: [orbbec/ros_astra_camera] Strange bright pixels on the edge of depth image (#40) Hello, I have been experiencing a strange issue on my pointcloud, which has a ray (sometimes multiple rays) on the edge of the scene. After checking the depth image from the Astra camera, I found incorrect bright pixels, indicating the gradually increasing depth values, on the edge of the depth image. Pointcloud: Depth Image: — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub, or mute the thread.
I just checked all our three Astra cameras, and they all have the same issue. We bought them separately, and the time interval was even months. Are you sure it's a hardware defect?
The problem could be solved by removing the white pixels on the depth image in the processing phase. It makes sense to me that this fix happens in the astra_camera node. What do you think of it?
ok, you can try to use the filterlibary on Astra. it will filter the fix noise. you can refer the https://github.com/orbbec/ros_astra_camera readme -DFILTER
刘华 座机：0755-86329228 转 8173 邮箱：[email protected] 手机：13603061506 深圳奥比中光科技有限公司 www.orbbec.com.cn 地址：深圳市南山区学府路63号高新区联合总部大厦12楼
From: Maverobot Date: 2017-12-18 17:56 To: orbbec/ros_astra_camera CC: ob-tim-liu; Comment Subject: Re: [orbbec/ros_astra_camera] Strange bright pixels on the edge of depth image (#40) I just checked all our three Astra cameras, and they all have the same issue. We bought them separately, and the time interval was even months. Are you sure it's a hardware defect? The problem could be solved by removing the white pixels on the depth image in the processing phase. It makes sense to me that this fix happens in the astra_camera node. What do you think of it? — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.
I went to https://github.com/orbbec/ros_astra_camera, checked out filterlibrary branch, built the ROS package using catkin_make --pkg astra_camera -DFILTER=ON. However, nothing has changed.
visit https://www.dropbox.com/s/e9alg5v9rtq6ue3/GetDebugInfo.zip?dl=0
then use the tools get oni file and debuginfo, then send to me , thx!
刘华 座机：0755-86329228 转 8173 邮箱：[email protected] 手机：13603061506 深圳奥比中光科技有限公司 www.orbbec.com.cn 地址：深圳市南山区学府路63号高新区联合总部大厦12楼
From: Maverobot Date: 2017-12-18 21:37 To: orbbec/ros_astra_camera CC: ob-tim-liu; Comment Subject: Re: [orbbec/ros_astra_camera] Strange bright pixels on the edge of depth image (#40) I went to https://github.com/orbbec/ros_astra_camera, checked out filterlibrary branch, built the ROS package using catkin_make --pkg astra_camera -DFILTER=ON. However, nothing has changed. — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.
I sadly don't have Windows PC setup. Can you please send me a Linux version of debug tool?
you can use below tools save oni , then send oni file and console log to me . https://www.dropbox.com/s/0u79ro8t17ze3qk/SaveOni-1219.tgz?dl=0
刘华 座机：0755-86329228 转 8173 邮箱：[email protected] 手机：13603061506 深圳奥比中光科技有限公司 www.orbbec.com.cn 地址：深圳市南山区学府路63号高新区联合总部大厦12楼
From: Maverobot Date: 2017-12-19 18:00 To: orbbec/ros_astra_camera CC: ob-tim-liu; Comment Subject: Re: [orbbec/ros_astra_camera] Strange bright pixels on the edge of depth image (#40) I sadly don't have Windows PC setup. Can you please send me a Linux version of debug tool? — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.
pls send me the recorded oni file.
刘华 座机：0755-86329228 转 8173 邮箱：[email protected] 手机：13603061506 深圳奥比中光科技有限公司 www.orbbec.com.cn 地址：深圳市南山区学府路63号高新区联合总部大厦12楼
From: Maverobot Date: 2017-12-20 17:50 To: orbbec/ros_astra_camera CC: ob-tim-liu; Comment Subject: Re: [orbbec/ros_astra_camera] Strange bright pixels on the edge of depth image (#40) Here is the log file. debug_info.txt — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.
device is so close to target , no depth show. can't see the noise
刘华 座机：0755-86329228 转 8173 邮箱：[email protected] 手机：13603061506 深圳奥比中光科技有限公司 www.orbbec.com.cn 地址：深圳市南山区学府路63号高新区联合总部大厦12楼
From: Maverobot Date: 2017-12-22 16:46 To: orbbec/ros_astra_camera CC: ob-tim-liu; Comment Subject: Re: [orbbec/ros_astra_camera] Strange bright pixels on the edge of depth image (#40) Sorry. Here it is. capture.oni.tar.gz — You are receiving this because you commented. Reply to this email directly, view it on GitHub, or mute the thread.
capture.oni.tar.gz There is no way for to check whether the recorded depth has the noise. Tell me please if there is no noise to see.
no noise base this recorded file. i think you can't get filter libray correctly. you can use 'roscd ' confirm the astra_camera and astra_launch dir , the below link is filter and unfilter oni file record. you can record for compare https://www.dropbox.com/s/dsycuo8y8m3164a/SaveOni-UnFilter.tgz?dl=0 https://www.dropbox.com/s/zi494trfb9ys674/SaveOni-Filter.tgz?dl=0
Package astra_camera and astra_launch are both at the correct path. This time I made sure the noise was there with this camera pose.
Here is the recorded debug info. https://drive.google.com/file/d/14NQ6UXTiYVc9TDS_bbFUY_mobVB9nyhd/view?usp=sharing
i can't reproduce with use filter library. watch from your last upload, use filter depth is good , use unfilter there are noises on edge . i think you can use filter library to resolve noise issue.
Sadly not. I have already tried multiple times with filter library, which does not help at all. Furthermore I think my issue is different than what was described here. In that issue, the noise happens at the edge of objects while in my case the noise always occurs at the edge of depth image. I consider them as totally different issues.
Some more suggestions for debug would be very welcome.
@tfoote @ob-tim-liu @mintar
Update:
I found out if I launch astra.launch with depth_registration:=false, the artifacts are gone.
Can anyone reproduce it?