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code-iai / iai_kinect2

Tools for using the Kinect One (Kinect v2) in ROS
Apache License 2.0
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Points topic is unreliable? #533

Closed bomarali closed 5 years ago

bomarali commented 5 years ago

Hi all,

I have reasons to believe that the sd/Points topic is unreliable.

I am visualizing the point cloud in Unity using 2 PC setup. I have one PC running the kinect2_bridge.launch plus custom node that subscribes to the sd/Points and sends the data over UDP to a second PC. The second PC runs Unity, reads the UDP data and visualizes the point cloud using Unity's particles component.

The resulting rendering has some noise that spans horizontally across the point cloud (see the attached image). I tested it using 3 different kinects and 2 ROS PCs, the problem is consistent. The UDP connection is stable no lost packets. All three kinects were thoroughly calibrated. Capture Interestingly enough the problem is not present in RVIZ or kinect2_viewer.

I am not sure if the RVIZ runs some temporal filtering.

bomarali commented 5 years ago

Please ignore the issue. I believe the problem was caused by UDP buckling under the load. That said it would be nice if the amount of wasted memory in points msg was reduced.