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duo3d / duo3d_driver

ROS Driver for DUO
http://ros.org/wiki/duo3d-driver
BSD 3-Clause "New" or "Revised" License
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Wrong scale when using 320x240 resolution #5

Open grandec opened 7 years ago

grandec commented 7 years ago

The scale of the point cloud generated by duo3d when using the 320x240 resolution is wrong. The objects appear larger than they actually are, for example, an object that its height 15 cm appears to be a little bit more than 30cm. This does not occur when using the native 752x480 resolution. This can be easily measured using the "measure" tool in RVIZ.

Jrokisky commented 6 years ago

I believe this is caused by the binning parameter being set. On lines 366-368: p.x = depth[j].x 0.001f; p.y = depth[j].y 0.001f; p.z = depth[j].z * 0.001f;

you can adjust the 0.001f to 0.0005f (half of the value). I needed to do this for the x & y dimensions, but not z.