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Point clouds for RGBD cameras #17
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Colors fixed in faa07bd, but I'm not sure why I had to do BGR instead of RGB when populating the point cloud. I checked that the Note also that the color seems to be slightly offset with respect to the points: |
I'm going to rebase this on meta_pkg |
…'s the source of the problem.
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Works great! I left some comments that should be easily addressed.
Thanks for the review, @azeey , I think I've addressed all your comments. |
Looks like CI is failing because we added ignition packages to |
* .travis/build: rosdep skip ignition keys * Update build
CI is 💚 |
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I don't think the offset issue is caused by this PR so I'm good with merging this.
Nice catch with ogre vs ogre2, @azeey . We can debug more on the ign-rendering side. |
for ogre2, do you know if it's the depth data that are at an offset or the color data? |
@iche033 , taking ogre1 as ground truth, depth seems to be the wrong one. It seems to be a bit more zoomed in: |
thanks that's helpful. I'm looking into it |
issue should be fixed by ign-rendering pull request 173: https://bitbucket.org/ignitionrobotics/ign-rendering/pull-requests/173 |
Needs:
Current status: publishes
PointCloud2
without color information: