Display Issue with Mapcloud When Using Stereo Camera in Gazebo

[baiyunrain]

Hi,

When I use a stereo camera in Gazebo and run the demo_stereo_outdoor.launch file, there is an issue with the display of the mapcloud.

As shown in the image, the mapcloud appears with two sections in the middle, which does not match the original stereo images. The images displayed in the bottom left corner are from the left and right cameras of the stereo camera.



Below is the configuration of the stereo camera in Gazebo and the corresponding demo_stereo_outdoor.launch file:



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Any ideas what I could be doing wrong? Thanks

[matlabbe]

Can you share the resulting database or a small rosbag of the camera topics (left, right images and camera_infos)?

[baiyunrain]

Hi,this is the corresponding file.
https://drive.google.com/file/d/1VYizDf6XuhTBYXBGBx8kX0ikEBmknaeP/view?usp=drive_link
https://drive.google.com/file/d/1zdInp0q1CPrdoZLH3zqWNOLeCKifPGXk/view?usp=drive_link

[baiyunrain]

Hi, it's very strange, the information in this image appears intermittently, and there are two of them. You can see the details in the video：https://drive.google.com/file/d/1AJ90-OgmqvSuEPJhUDaE2CJyl-TXtAIG/view?usp=drive_link

[matlabbe]

The links are protected, I sent a request to have access. You can turn on public sharing to avoid us to require access (unless you really want to shre to specific persons only).

[baiyunrain]

Sorry, I didn't know there were access restrictions. It has now been successfully modified, and anyone can access it.

[matlabbe]

The right camera_info is missing in the bag and the database is empty.