Wrong Scale and Position of Point Cloud

[Boyuan Chen]

Hi,

I am trying to get point cloud visualized in the browser. The video can be seen in the browser, but the position and scale of the point cloud do not seem right as shown in the picture. The rid circle downside should be the place of the gripper of the robot, not the upside one. Is there anyone who can help? Thank you so much!

Thank you and best wishes,

Boyuan

[Chad Jenkins]

Hi Boyuan,

Am I wrong that the rest of the point cloud other than the gripper look to be correct?  If so, I suspect this is more of a ROS issue than an RWT issue.

Good luck!

-Chad

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[Boyuan Chen]

Hi Chad,

Thank you for your response! I believe it is not just the gripper. The inner part of the point cloud is correct, such as the relative position of desks and bottle, also the angle of the desk. However, both the  relative position and relative scale of Fetch and the point cloud is not correct. The position of the gripper shown in point cloud should be the position of the robot, while this is not true now.

Plus, the reason why I think ROS is correct is that the view in RVIZ is correct including all the point cloud and the robot. The scenes in RVIZ and in RWT are not same. My guess is the relative topic of camera frame is not correct in the js code of RWT used by us, such as the head_camera_depth_optical_frame. However, I have tried all the reasonable frames and they still did not provide us a reasonable scene.

Best Regards,

Boyuan

On Saturday, January 14, 2017 at 8:21:50 PM UTC-5, Chad Jenkins wrote:

Hi Boyuan,

Am I wrong that the rest of the point cloud other than the gripper look to be correct?  If so, I suspect this is more of a ROS issue than an RWT issue.

Good luck!

-Chad

On Fri, Jan 13, 2017 at 7:01 PM, Boyuan Chen <bc2...@columbia.edu> wrote:

Hi,

I am trying to get point cloud visualized in the browser. The video can be seen in the browser, but the position and scale of the point cloud do not seem right as shown in the picture. The rid circle downside should be the place of the gripper of the robot, not the upside one. Is there anyone who can help? Thank you so much!

Thank you and best wishes,

Boyuan

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[Chad Jenkins]

Sure thing.  My knowledge of the low-level is a bit outdated, but I can offer some sanity checks.

For example, does the tf for the frame used by rviz match the frame used by RWT?

-Chad

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[David Lu]

1) Is there an answers.ros.org post for this? Might be an easier place to iterate on it. 

2) Can you provide your configuration and/or bag files?

[Boyuan Chen]

Hi Chad,

Thanks for your response! I think so but I will definitely double check that!

Best,
Boyuan

[Boyuan Chen]

HI David,

Thanks for your response! I did not find an answer on answers.ros.org. But here is my configuration, I will be really appreciated it if you could help to see it:

We are using real Fetch robot to do robotwebtools, and here are some frames we set in the tutorial file provided on-line:
ROSLIB.TFClient:    fixedFrame: '/base_link'

depthCloud = new ROS3D.DepthCloud({
      url : 'http://tong.local:9999/streams/depthcloud_encoded.webm',
      f : 525.0
    });

ROS3D.SceneNode     frameID : '/head_camera_rgb_optical_frame'

In addition, I have checked in RVIZ that we have topic of depth camera frame which corresponds to '/head_camera_rgb_optical_frame' used above publishing in camera configuration. Thus, I am not sure why the scene in the browser and the scene in RVIZ are different.

Best,
Boyuan

[David Lu]

Someone else will have to look into the DepthCloud problem, but as an alternative, you could try https://github.com/RobotWebTools/ros3djs/blob/develop/src/sensors/PointCloud2.js

[Boyuan Chen]

Cool! Thanks a lot!

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[Shaun Edwards]

Boyuan,

I believe I am running into the same issue.  DId you ever solve it or did David's pointcloud alternative work for you?

-Shaun