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ros-perception / image_pipeline

An image processing pipeline for ROS.
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disparity image is displayed but pointcloud shows only a small dot in rviz #402

Closed syediu closed 5 years ago

syediu commented 5 years ago

Hi all, I am trying to get disparity image and pointclouds from VREP's two vision sensors(assembled like stereo camera) using Stereo_Image_Proc. Disparity image is successfully displayed and pointcloud topic (i-e /points2) publishes consistent data at each iteration(I mean its data contains few numbers like 197, 172,0 ,0,0,0 etc repeatedly). I don't know where am I doing mistake. I would be highly grateful if someone please solve my this problem. I have attached rqt_graph, rostopic echo /points2 and rviz display of pointcloud. Thanks Screenshot from 2019-04-16 12-59-22 Screenshot from 2019-04-16 12-59-49 rosgraph

EDITED: when i convert the pointcloud2 to image using below two commands I can see the image from pointcloud data. the problem is i can't visualize it in rviz. rosrun pcl_ros convert_pointcloud_to_image input:=/points2 output:=/my_image rosrun image_view image_view image:=/my_image

SteveMacenski commented 5 years ago

This is a configuration or visualization issue. See links below to help, closing.

https://github.com/ros-perception/image_pipeline/issues/397 http://wiki.ros.org/stereo_image_proc/Tutorials/ChoosingGoodStereoParameters

Mdmorshadurrahman commented 2 years ago

Hi all, I am trying to get disparity image and pointclouds from VREP's two vision sensors(assembled like stereo camera) using Stereo_Image_Proc. Disparity image is successfully displayed and pointcloud topic (i-e /points2) publishes consistent data at each iteration(I mean its data contains few numbers like 197, 172,0 ,0,0,0 etc repeatedly). I don't know where am I doing mistake. I would be highly grateful if someone please solve my this problem. I have attached rqt_graph, rostopic echo /points2 and rviz display of pointcloud. Thanks Screenshot from 2019-04-16 12-59-22 Screenshot from 2019-04-16 12-59-49 rosgraph

EDITED: when i convert the pointcloud2 to image using below two commands I can see the image from pointcloud data. the problem is i can't visualize it in rviz. rosrun pcl_ros convert_pointcloud_to_image input:=/points2 output:=/my_image rosrun image_view image_view image:=/my_image

Hi

Hi all, I am trying to get disparity image and pointclouds from VREP's two vision sensors(assembled like stereo camera) using Stereo_Image_Proc. Disparity image is successfully displayed and pointcloud topic (i-e /points2) publishes consistent data at each iteration(I mean its data contains few numbers like 197, 172,0 ,0,0,0 etc repeatedly). I don't know where am I doing mistake. I would be highly grateful if someone please solve my this problem. I have attached rqt_graph, rostopic echo /points2 and rviz display of pointcloud. Thanks Screenshot from 2019-04-16 12-59-22 Screenshot from 2019-04-16 12-59-49 rosgraph

EDITED: when i convert the pointcloud2 to image using below two commands I can see the image from pointcloud data. the problem is i can't visualize it in rviz. rosrun pcl_ros convert_pointcloud_to_image input:=/points2 output:=/my_image rosrun image_view image_view image:=/my_image

Need you help ! Got stuck in the same situation badly.

JMadhup commented 2 years ago

@syediu Were you able to solve this issue?

syediu commented 2 years ago

@Mdmorshadurrahman @JMadhup Please apology my late response. Yes, I did solve the issue. Solution: While using the stereo camera, you also need to supply the baseline between the left and right camera, if you don't specify this, you will not be able to get depth. See this link for reference, in the Projection matrix, supply the value of the correct baseline as mentioned in the link.

Projection matrix can be found in the Sensor_msgs/CameraInfo when publishing the camera information.

JMadhup commented 2 years ago

@syediu are you referring tto the attribute of the plugin?