RE: Problems interfacing RTAB-Map and V-Rep

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Problems-interfacing-RTAB-Map-and-V-Rep-tp1444p1451.html

Hi,

Maybe there's a problem with the conversion from rgb8 to 16UC1. It is strange that the depth image is in rgb8 format at first. Is that depth image a grayscale image of the depth in 8 bits? If so, it doesn't contain the actual depth values (in meters or mm).

In this post, it seems that  simros_strmcmd_get_vision_sensor_depth_buffer returns float32 data

vrep_common::VisionSensorDepthBuff::data (Float32MultiArray): the depth values. Values are in the range of 0-1 (0=closest to sensor, 1=farthest from sensor).

If values are between 0 and 1, you would have to convert this message to meters (FLOAT32) according to maximum range of the camera.

cheers