DRCsim point cloud noise

asked 2013-04-29 11:36:22 -0600

odedy86
19 ●8 ●9 ●13

Hello,

I launched an empty world with Atlas and added the terrain and a few boxes. When viewing in Rviz, a noisy point cloud is presented (see youtube video). image description

Questions: a. Is the noise deliberate? b. If so, is this the Gaussian noise, what is the variance of the noise, and can the variance be changed?

Thanks,

Oded

answered 2013-04-29 13:24:16 -0600

hsu
1873 ●14 ●19

Please see the <noise> block in the multicamera definition for per-pixel noise added to each MultiSense head camera. stereo_image_proc does not inject any additional noise.

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I tried removing the noise by rewriting "<stddev>0.0</stddev>" in both cameras and compiling and reinstalling, yet the noise was not removed.

odedy86 ( 2013-04-30 10:20:16 -0600 )edit

I tried removing the noise by rewriting "<stddev>0.0</stddev>" in both cameras and compiling and reinstalling, yet the noise was not removed.

odedy86 ( 2013-04-30 10:20:59 -0600 )edit

Hi odedy86, different stereo vision algorithms produces have different kinds of errors even if you have an ideal camera. You can look into literatures on stereo algorithm implementation used here (http://opencv.willowgarage.com/documentation/cpp/camera_calibration_and_3d_reconstruction.html#stereobm) to understand these errors.

hsu ( 2013-04-30 12:54:21 -0600 )edit

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