3D mapping result is weired

[Bzhnja]

Hi @m4nh , I have tried this package on my own slam system, but the 3d mapping result is not correct, there are so many vertical strips, the result is as following, and the LiveCloud topic is this, it is only several narrow vertical strips: But actually my depth image looks like the image below. This is the skimap_live.launch that I have modified. `

<arg name="camera" default="camera" />

<node name="skimap_live" output="screen" pkg="skimap_ros" type="skimap_live">

    <!-- Generic Parameters -->
    <param name="hz" value="10" />

    <!-- Topics Parameters -->
    <param name="camera_rgb_topic" value="/$(arg camera)/rgb/image_raw" />
    <param name="camera_depth_topic" value="/$(arg camera)/depth_registered/image_raw" />

    <!-- Cloud parameters  -->
    <param name="point_cloud_downscale" value="1" />

    <!-- RGB-D Parameters -->
    <param name="fx" value="520.5687" />
    <param name="fy" value="520.9826" />
    <param name="cx" value="328.6763" />
    <param name="cy" value="236.1047" />
    <param name="rows" value="480" />
    <param name="cols" value="640" />
    <param name="camera_distance_max" value="3" />
    <param name="camera_distance_min" value="0.45" />

    <!-- Mapping parameters -->
    <param name="base_frame_name" value="vodom" />
    <param name="camera_frame_name" value="camera_rgb_optical_frame" />
    <param name="map_resolution" value="0.05" />
    <param name="min_voxel_weight" value="100" />
    <param name="ground_level" value="0.05" />
    <param name="agent_height" value="1.5" />
    <param name="enable_chisel" value="false" />
    <param name="chisel_step" value="30" />
    <param name="height_color" value="true" />

</node>

<node pkg="rviz" type="rviz" output="screen" name="rviz" args="-d $(find skimap_ros)/rviz/skimap_live.rviz" />

` What's wrong with my operation, any suggestions? Thank you.

[m4nh]

@Bzhnja hi! Maybe try to increase "camera_distance_max" from 3 to 10... maybe it's a FAR_CLIP_PLANE problem

[Bzhnja]

@m4nh hi, I have changed "camera_distance_max" to be 10, but the LiveCloud topic is still not correct.

[m4nh]

@Bzhnja what's your RGB-D sensor? are you publishing DEPTH data by yourself or by means of the official driver?

[Bzhnja]

@m4nh The RGB-D sensor is orbbec astra, I used its official driver.