Re: Incomplete depth cloud and no loop closures with Realsense R200

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Incomplete-depth-cloud-and-no-loop-closures-with-Realsense-R200-tp2934p2939.html

Hi,

The depth image has a lot of null lines:

 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0,
 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0,
 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 
192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 
192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 
192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 
192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0, 192, 127, 0, 0,
...

Like in your rqt_image_view picture above, the depth image is not full. All the holes are causing the checkboard aliasing.
Example just by resizing the window, the rendered depth is not rendered correctly, however this is just a visual gui bug.
Ok:

Window resized:


The best would be to have the depth image more dense (without all these null lines). I think thesse lines were added during registration, because the original depth image is a lot smaller than RGB image. If I remember, with realsense r200, you may use the original depth directly (this would fix the empty lines). Can you show a comparison of the original depth and the registered one?

cheers,
Mathieu