In my project, I was trying to send camera data (rgb and depth) into ROS, and then convert it to point cloud via this node http://wiki.ros.org/depth_image_proc
While using it with gazebo, it works out perfectly:
Original pointcloud, published by simulated camera:
As can be seen it’s pretty the same, what means, that this node works, as expected. But when I’m trying to use same node with data from Isaac Sim, point cloud look distorted and shifted:
Looks like CamerInfo, or Depth Image itself is wrong in Isaac Sim. Is it planned by the Isaac Sim team, to implement point cloud publishing from a simulated camera? Or maybe you have a solution, how to fix this problem?
Looks like a 90 degree rotation clockwise is missing for the bottle environment. Can you see if that helps? Are you using uint16 depth or float in Gazebo/input into depth_image_proc? I’ll try to repro. Thanks.
Where the horizontal_aperture value is what is currently set in the camera prim in the stage. If no camera prim exists, create a new one and make it active in the viewport window.
Yes, I am also having some issues with incorrect pointclouds built off the depthmap generated by isaac sim. Will make a separate post to further explain the issue.
