From 1c2d6933a5d2de4dc095affe5d0ad1d7453687f3 Mon Sep 17 00:00:00 2001 From: David Yackzan Date: Wed, 20 Dec 2023 12:30:52 -0700 Subject: [PATCH] Set the fill_upsampling_holes parameter to True Due to the resolution disparity between the depth images and the rgb images from the embedded D410 rgbd camera on the gen3 kinova, when the depth images are registered in the color image frame, many holes occur in the registered depth data. Turning on fill_upsampling_holes spreads the lower resolution depth data out across the registered image to eliminate these holes. --- launch/kinova_vision.launch.py | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/launch/kinova_vision.launch.py b/launch/kinova_vision.launch.py index ae80c33..09d41c9 100644 --- a/launch/kinova_vision.launch.py +++ b/launch/kinova_vision.launch.py @@ -201,6 +201,18 @@ def launch_setup(context, *args, **kwargs): ("depth/camera_info", "depth/camera_info"), ("depth/image_rect", "depth/image_raw"), ], + # Due to the resolution disparity between the depth images and + # the rgb images from the embedded D410 rgbd camera on the gen3 + # kinova, when the depth images are registered in the color + # image frame, many holes occur in the registered depth data. + # Turning on fill_upsampling_holes spreads the lower resolution + # depth data out across the registered image to eliminate these + # holes. + parameters=[ + { + "fill_upsampling_holes": True, + } + ], ), ComposableNode( package="depth_image_proc",