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blodow / realtime_urdf_filter

ROS package that can filter geometry defined in URDF models from Kinect depth images. Can also preprocess data for the OpenNI tracker, to remove backgrounds, robots etc.
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Filtering robot elements that are too close to the camera #25

Closed mehditlili closed 4 years ago

mehditlili commented 4 years ago

In my use case, some robot links are too close to the camera, resulting in nans/zeros in the depth image (min distance for the depth camera to make valid pointclouds is ~30 cm). Unfortunately the mask returned by the filter does only cover valid points. I couldn't yet figure out a way to tell the urdf_filter that zero points that land where we normally see the robot should also be accounted for in the filter. Is there any way to do that?

JimmyDaSilva commented 4 years ago

All the value treatment happens in the shaders.

Basically you can add a line here to do something if d is NaN. https://github.com/blodow/realtime_urdf_filter/blob/80473bd80406c67f9f36e0388a8de6259bdc3b49/include/shaders/urdf_filter.frag#L14-L17

The others option is to apply a filter on your depth image with : http://wiki.ros.org/image_proc

mehditlili commented 4 years ago

Replacing nan values with large values (eg. larger than max depth the camera can see) solved it for me. The mask then contains the robot parts that were not correctly reported before.