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RGB Point Cloud

Open DaniGarciaLopez opened this issue 4 years ago • 6 comments

Hi!

I managed to launch the example 'roslaunch depthai_examples stereo_nodelet.launch' and I can visualize the point cloud in rviz.

How to visualize the point cloud with rgb information? I don't know if this feature is already done, I couldn't find the way to show it.

Thanks!

DaniGarciaLopez avatar May 07 '21 12:05 DaniGarciaLopez

How to visualize the point cloud with rgb information? I don't know if this feature is already done, I couldn't find the way to show it.

Depth-RGB alignment was recently added in DepthAI (Only for the case when RGB is in the center of the device) for now. An example on this has not been created in ROS yet.

saching13 avatar May 07 '21 15:05 saching13

Thanks for the reply! Looking forward to have an example in ROS.

DaniGarciaLopez avatar May 07 '21 16:05 DaniGarciaLopez

Looking forward for this too. Also, why is the pointcloud so noisy?

martinerk0 avatar Dec 06 '21 22:12 martinerk0

Sorry about the trouble. Likely we have incorrect defaults set. Discussing internally now.

Luxonis-Brandon avatar Dec 06 '21 22:12 Luxonis-Brandon

@martinerk0 can you share a screenshot of it please ? And I modified the confidence and LRThreshold too. And if the newly set parameters still feel like noisy for your usecase use the following parameters to tweak the confidence. roslaunch depthai_examples stereo_nodelet.launch LRchecktresh:=5 confidence:=200

image

saching13 avatar Dec 06 '21 22:12 saching13

image

saching13 avatar Dec 06 '21 22:12 saching13

Closing due to inactivity, if you think this should remain open, please tag me in a comment here.

Serafadam avatar Nov 07 '22 09:11 Serafadam