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luxonis / depthai-ros

Official ROS Driver for DepthAI Sensors.
MIT License
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Noetic version: point clouds are different when running depthai_bridge and depthai_ros_driver #285

Open LanWu076 opened 1 year ago

LanWu076 commented 1 year ago

I have the same issue as in #223. It seems the similar issue remaining in the latest noetic branch (not the 271_neotic). The point cloud is okay when running the depthai_example (based on depthai_bridge) but extremely noisy when running the depthai_ros_driver.

depthai_example (side view) it is okay Screenshot from 2023-04-14 16-00-35

depthai_ros_driver(side view) it is noisy Screenshot from 2023-04-14 15-59-53

depthai_example (top view) it is okay Screenshot from 2023-04-14 16-00-54

depthai_ros_driver(top view) it is noisy, even travel through the wall Screenshot from 2023-04-14 16-00-06

I tried to enable the filtering based on the default config file (camera.yaml). It does not affect the performance.

Serafadam commented 1 year ago

Hi, thanks for reporting, newest Noetic release will add more parameters to depth filtering, which should make both pointclouds the same

ndaley7 commented 1 year ago

Hi, thanks for reporting, newest Noetic release will add more parameters to depth filtering, which should make both pointclouds the same

Hello! Its a bit difficult to tell on the release page. Were the additional parameters added and if so what were they specifically?

Serafadam commented 1 year ago

Hi, yes, a lot of parameters have been updated and pointclouds should be roughly the same, if you experience any issues please let us know.