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nucobot / RealSense

ROS driver for RealSense depth camera
MIT License
7 stars 8 forks source link

Noisy pointclouds #3

Open sepjansen opened 8 years ago

sepjansen commented 8 years ago

I notice the pointclouds from the driver are very noisy, see image below. There seem to be a large number of 'ghost points' between the actual object and the camera itself. I don't notice this behaviour in the intel SDK, so I'm assuming it's not a hardware or firmware issue. It's also appearing on different realsense cameras, so it must be a driver issue. Filtering is not really an option, due to the large amount of points. Is there a reason or explanation for this noise? Are there any workarounds or solutions?

nuco_driver_noisy_clouds

ncos commented 8 years ago

I am sorry, but we were also experiencing noise with Intel depth cameras (RealSense and the next gen. DS4 tablet camera). It might be a problem with Linux drivers, but we've noticed a lot of noise on the grayscale image acquired directly from linux device, so I tend to think it is a hardware issue. Filtering 640x480 grayscale image may prove to be not so hard as it seems, and SDK might be doing this behind the scenes. A good solution to this problem would be to read the IR image from Windows without using the SDK. You can open the IR camera in Skype, for example, but it will not be properly encoded. To reencode the image you can launch our node under Windows and see where the noise is coming from. Good luck!