Pointcloud artifacts

[ciniminis1]

Hi, I try my best to use OAK-D Pro in conjunction with RTABmap to create a map of interior space for further robot localization. I have spent times tuning camera parameters, although I still cannot get rid of random point cloud artifacts (as seen in the picture close to the camera), that spoil the cloud map. I have tried various filters combination, as well as extended disparity and subpixel mode. Is there any other advice on this issue?

[Serafadam]

hi, for limiting the depth range you can use depth threshold filter. Could you also share a rosbag with your image data?

[ciniminis1]

Hi @Serafadam , how I am supposed to use the depth threshold filter in Noetic driver? I checked a complete list parameters, there is i_enable_threshold_filter param, but I don't see any param that actually sets the threshold value. Besides that, is there any documentation that describes all the parameters available?

[Serafadam]

Hi, sorry, those are missing indeed and will be fixed in docs, you can check the parameter names and values here