So I was working with an Octomap with the YAK package for the process of 3-D reconstruction using Kinect Fusion. However, that led me to recognise an issue which I had suspected since long.
As seen in the picture below, in the Gazebo window, even when the Kinect sensor is facing straight with no objects in its path, it still detects the circular grey sphere which is placed at an anticlockwise 90 degrees rotation to the Kinect sensor. The Octomap generated (in purple) is also flipped 90 degrees to the robot in Rviz. The sensor_kinect.yaml file is taking data from the camera/depth/points topic which is used to publish the Octomap.
This is the current view of the camera at the camera_depth_image_raw topic.
Hi!
So I was working with an Octomap with the YAK package for the process of 3-D reconstruction using Kinect Fusion. However, that led me to recognise an issue which I had suspected since long.
As seen in the picture below, in the Gazebo window, even when the Kinect sensor is facing straight with no objects in its path, it still detects the circular grey sphere which is placed at an anticlockwise 90 degrees rotation to the Kinect sensor. The Octomap generated (in purple) is also flipped 90 degrees to the robot in Rviz. The
sensor_kinect.yaml
file is taking data from thecamera/depth/points
topic which is used to publish the Octomap.This is the current view of the camera at the
camera_depth_image_raw
topic.I suppose the problem is in the camera_depth_optical_frame and camera_rgb_optical_frame at Line 373 and Line 405 which is somehow rotating the view by 90 degrees. The requirement of
optical frames
was supposedly so that the axes in Gazebo and RViz match each other.The gazebo reference tag at Line 422 should take the
camera_depth_optical_frame
as reference orcamera_depth_frame
as the reference?I am bit confused on how to go about this.
Thanks in advance.
@Levi-Armstrong