Gazebo simulation when looking at the empty space some times getting a really low value

[Gio-giouv]

You could see that values red dots in the range image are not corresponds to the actual value . Would it be that the problem is because running in gazebo simulation or I need to change something in the code ? Any help-advice would be appreciated , thank you

[EPVelasco]

Hello, the problem may be the transformation matrix between the lidar and the camera. Please check this issue.

[Gio-giouv]

Thank you for your response , it seems that the problem occurred because I change the increment step in this arma::vec XI = arma:: regspace(X.min(), 1.0, X.max()); from 1.0 to 0.1 ( in the starting of the interpolation algorithm) but I did that because I do not have so many detected points other wise the above image is when I set interpolation value 1

[Gio-giouv]

When I set interpolation value 10 I got the following

[Gio-giouv]

When I use the point could named cloud_out that used by the rangeImage in the begging without going inside of the interpolation part of the algorithm I have better results ,the visualization gives me the actual shape of the object and not just a flat image of it. Also to calculate the translation and rotation matrix I used tf_view tha gives me the transaltion and rotation in quaternion form.Do you have any idea what is going on?Thank you for the guidance , I appreciate any of your help.