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Set the fill_sampling_holes parameter to True #6

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merged 1 commit into from
Dec 20, 2023
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Set the fill_sampling_holes parameter to True #6

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12 changes: 12 additions & 0 deletions launch/kinova_vision.launch.py
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Original file line number Diff line number Diff line change
Expand Up @@ -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=[
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Might be worth adding a comment that just says exactly what you have in the description...

Suggested change
parameters=[
# Due to the resolution disparity between the depth images and the rgb images from the embedded DH410 rgbd camera on the gen3 kinova,
# when the depth images are registered in the color image frame, many sampling holes occur.
# Turning on the fill_sampling_holes parameter spreads the lower resolution depth data out across the
# registered image so there are no sampling holes.
parameters=[

{
"fill_upsampling_holes": True,
}
],
),
ComposableNode(
package="depth_image_proc",
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