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Field-Robotics-Lab / nps_uw_multibeam_sonar

Multibeam sonar plugin with NVIDIA Cuda library
Apache License 2.0
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Near Z-buffer clipping bug #14

Closed woensug-choi closed 3 years ago

woensug-choi commented 3 years ago

What is captured as scene in the depth_camera is controlled by clipping parameter (near and far). Even with the near parameter is set to small, the object near about 0.40 m (40 cm) is not seen.

Quickstart to reproduce

  1. Launch the oculus m1200d in the sonar tank and cylinder 
    roslaunch nps_uw_multibeam_sonar sonar_tank_oculus_m1200d_nps_multibeam.launch
  2. Open rqt_imgae_view for camera image and depth_image_normal in separate terminal windows 
    rqt_image_view /oculus_m1200d/image_raw
rqt_image_view /oculus_m1200d/image_depth_normals
  3. Change the position of the sonar at the left panel in the gazebo window
    • Default y position is -0.5 (horizontal cylinder at the center, distance between sonar and the cylinder is 0.5)
    • Move the sonar closer by changing the y position to -0.45, -0.43
    • When y position of the sonar is -0.43 (distance from sonar and the cylinder is about 40 cm, depth normal image of the near elements are cut out

@dtdavi1 Can you give it a look? This limits the experiment set-up.

woensug-choi commented 3 years ago

Found a parameter that cuts out the close-range objects; pointCloudCutoff. Will make a change to the default value of parameter pointCloudCutoff from 0.4 to 0.01.