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orbbec / ros_astra_camera

ROS wrapper for Astra camera
Apache License 2.0
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Incorrect Depth Scaling #194

Open spok7 opened 1 year ago

spok7 commented 1 year ago

While trying to create a static tf publisher between my depth cameras (Astra Pro Plus, D435i, D430, D430), I noticed a discrepancy between the Astra Pro Plus and the D435i when viewing the RGB depth clouds in rviz's TopDownOrtho view:

image-20230912125906285

The rectangular fume hood shown by the Astra camera (gray) appears much smaller than in the D435i Realsense (green). After measuring it manually, it seems like the realsense is showing the correct scale, whereas the astra is showing it at ~85% scale. And yes, all of the cameras' intrinsics have been calibrated.

Is there any way of manually adjusting the distance/depth/z scaling through the ROS package? If not, is there a way of doing this via firmware?

spok7 commented 1 year ago

Alternate views in Orbit mode, for clarity: image image image