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IntelRealSense / librealsense

Intel® RealSense™ SDK
https://www.intelrealsense.com/
Apache License 2.0
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The curvature of point cloud in the edge of a object along the viewpoint will become too small #3568

Closed TouchDeeper closed 5 years ago

TouchDeeper commented 5 years ago
Required Info
Camera Model D435
Firmware Version 05.11.01.00
Operating System & Version Ubuntu 16
Kernel Version (Linux Only) 4.15.0
Platform PC
SDK Version 2.8.1
Language C++
Segment Robot

Issue Description

Hi, I want to do a pose estimation based on point cloud. My object is a banana. But the precision of d435 troubles me. The curvature of point cloud in the edge of the banana along the viewpoint will become too small, maybe I can't describe the phenomenon well enough, so I upload the pcd. pcd.zip The BananaCAD.pcd is generated by pcl_mesh2pcd. The BananaScene.pcd describe how I get the point cloud of banana. The BananaFiltered.pcd is the point cloud after the segment. I can't get the correspondence between the BananaCAD.pcd and BananaFiltered.pcd according to the tutorial of PCL. Can you trouble to provide some advice to better the result? Thanks a lot.

RealSenseCustomerSupport commented 5 years ago

@TouchDeeper Sorry for the late response. Did you still have the issue now? Looking forward to your reply. Thanks!

TouchDeeper commented 5 years ago

I move the camera closer to the banana. The result became better. But I used the sr300 instead of d435 in the end.