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ensenso / ros_driver

Official ROS driver for Ensenso stereo cameras.
http://wiki.ros.org/ensenso_driver
BSD 3-Clause "New" or "Revised" License
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Unable to receive depth image from linked Ensenso camera #35

Closed jdzied closed 3 years ago

jdzied commented 4 years ago

Hi, I am trying to receive a depth image from a calibrated pair of Ensenso N35 and UEye RGB Camera but get the following Error: Depth images are not yet supported for linked and multi camera usage. Only request depth images when using one stereo camera only. I can only receive the colourized pointcloud. Is there any way to get the depth and color image seperately?

Thanks in advance!

yguenduez commented 4 years ago

Hello Jonathan :)

The error message is not quite correct, I will correct that.

The depth map can only be requested, if the camera_frame is the same as the target_frame. This is because we receive the depth map out of the point cloud given from the NxLib (we only use the z-Channel of the point cloud). And if the camera is externally calibrated, the point cloud is automatically transformed to this given frame, so the depth map would not be correct.

In order to have them separated, you can link calibrate the mono camera to the stereo camera, but you must not add any external transformation to the stereo camera (i.e. hand-eye calibration, workspace calibration). Also you must not define any frames of the stereo camera in the launch file, so the camera_frame is the same as the target_frame. Then you should get a depth map from the stereo camera.

I hope I could help. Tell me if you have problems. (And greetings to the IFL!)