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luxonis / depthai-ros

Official ROS Driver for DepthAI Sensors.
MIT License
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Pointcloud artifacts #350

Open ciniminis1 opened 1 year ago

ciniminis1 commented 1 year ago

Hi, I try my best to use OAK-D Pro in conjunction with RTABmap to create a map of interior space for further robot localization. I have spent times tuning camera parameters, although I still cannot get rid of random point cloud artifacts (as seen in the picture close to the camera), that spoil the cloud map. I have tried various filters combination, as well as extended disparity and subpixel mode. Is there any other advice on this issue?

image

Serafadam commented 1 year ago

hi, for limiting the depth range you can use depth threshold filter. Could you also share a rosbag with your image data?

ciniminis1 commented 3 months ago

Hi @Serafadam , how I am supposed to use the depth threshold filter in Noetic driver? I checked a complete list parameters, there is i_enable_threshold_filterparam, but I don't see any param that actually sets the threshold value. Besides that, is there any documentation that describes all the parameters available?

Serafadam commented 2 months ago

Hi, sorry, those are missing indeed and will be fixed in docs, you can check the parameter names and values here