RGBD Camera RGB data is clipped to 5 meters

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Original report (archived issue) by Neil Johnson (Bitbucket: realdealneil1980).

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In our early testing of the RGBD sensor, we noticed that the output of BOTH the depth data and the RGB data is clipped to 5 meters. This appears to be a bug to me. A real RGBD sensor might not get good depth readings beyond 5 meters (we may challenge this limit in the future as well, but not now), but the RGB sensor is just a camera, and it should report data beyond the 5 meter distance.

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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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Thanks, that's a good point. We'll look into it.

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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• set assignee_account_id to "557058:095b1e12-74ed-4e20-b44f-2f0745b616e0"
• set assignee to "nkoenig (Bitbucket: nkoenig, GitHub: nkoenig)"

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Original comment by Stefan Kohlbrecher (Bitbucket: Stefan_Kohlbrecher).

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That's how gazebo_ros_openni_kinect operates since it was introduced a long time ago AFAIK. Always bugged me too, but never enough as to implement a fix. I guess increasing the far frustum range and then cutting out up to a threshold for generating depth data would be fairly easy?

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Original comment by Neil Johnson (Bitbucket: realdealneil1980).

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To get around this issue in the meantime, while a bugfix is being explored, we have determined that we can set a few parameters on the RGBD camera to make it behave better, however we need to know what will be allowed during the actual qualification and contest runs.

There are two main settings that affect the behavior of the sensor:
max_distance and PointCloudCutoffMax. By default, I believe max_distance=8 and PointCloudCutoffMax is similar. We are currently extending both to much bigger numbers, but this is probably not realistic. If the RGB image didn't clip, we could probably deal with a depth limit of around 10-15 meters, but more is better, so we'd love to be able to set RGB max_distance to 40+ meters if that is allowed.

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Original comment by Nate Koenig (Bitbucket: Nathan Koenig).

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• changed state from "new" to "resolved"

The latest code based on Ignition should have this issue fixed. Please reopen if there are still problems.

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Original comment by Alfredo Bencomo (Bitbucket: bencomo).

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• changed state from "resolved" to "closed"