ros_topic::camera_info of D435 does not match data from calibration tool

[xhao01]

Hi,

i'm using D435 in ROS, i test it using launch file : rs_camera.launch. But then i got confused, that topic published from camera_info seems not right, because i find the message from camera_info_infra1 and camera_info_infra2 are exactly same.

So i install a calibration tool from Intel called Intel.Realsense.CustomRW, then make a compare. The results are showed below. Any one can help, how i can publish the right camera_info in ROS? Thanks a lot!

[MartyG]

May I confirm please that you used the following launch instruction:

roslaunch realsense2_camera rs_camera.launch

Also, are you using USB 3.0 or USB2 please? In USB2 mode, which makes the camera much more restricted in its capabilities than when used with USB 3.0, Infrared2 is not available.

[xhao01]

Hi MartyG,

i'm using roslaunch realsense2_camera rs_camera.launch and also using USB3.2 which recognized from realsense-view.

[MartyG]

The best place to ask your question may be Intel's specialist RealSense ROS forum, as the people there are experts in ROS. Please visit the link below and click the 'New issue' button to post a question there.

https://github.com/IntelRealSense/realsense-ros/issues

Also please follow this link:

https://github.com/IntelRealSense/realsense-ros/issues/852

[xhao01]

Ok, thanks for the hints, i'll give atry.

[MSkut]

Maybe a little bit late but I think you will find a hint in the following link: here: https://forums.intel.com/s/question/0D50P0000490WswSAE/intrinsic-camera-parameters-mismatch?language=de

[MartyG]

Thanks for sharing the link!