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luxonis / depthai-ros

Official ROS Driver for DepthAI Sensors.
MIT License
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[custom] precision depth #348

Closed FabienDanieau closed 9 months ago

FabienDanieau commented 12 months ago

Hi,

I am using a charuco board to double check the 3D position of the point cloud. I notice an offset in the z direction, using ros2 launch depthai_examples stereo_inertial_node.launch.py enableDotProjector:=true dotProjectormA:=800.0 or ros2 launch depthai_ros_driver rgbd_pcl.launch.py. x and y looks well aligned. Is there a parameter to tune to adjust the precision of the depth map? Thanks

Screenshot from 2023-07-09 17-57-47 Screenshot from 2023-07-09 17-57-30

Serafadam commented 12 months ago

Hi, could you record a rosbag that we could investigate?

FabienDanieau commented 11 months ago

Sure sent by email

FabienDanieau commented 11 months ago

Note that my board has a legacy charuco pattern so you need Opencv 4.8 with setlegacypattern(true) or Opencv <=4.5.

saching13 commented 11 months ago

@FabienDanieau the file has stereo/points topic which is showing up empty on my side. can you send more data?

And also how was the charuco grid added and how did you try to align so that I can try the same experiment on my side. Do you have some RME ?

image

saching13 commented 9 months ago

Closing due to inactivity. Feel free to open it again if there is more data available.