Realsense D435 pointcloud中的噪音

你好，
我正在使用D435相机避免无人机上的障碍物。
无人机安装了3个摄像头。
我使用的是在没有pointcloud的情况下启动RS，但是启动一个单独的depth_imag_proc节点以从摄像机获取xyz pointcloud。
我附加了启动文件，以便您查看使用的参数。
另外，我为所有相机设置了视觉预设为HIGH_ACCURACY。
现在的问题是，对象/点出现在没有的点云中。
这些斑点看起来不像我的平均噪音，因为它们实际上是小点群，而不仅仅是随机噪音。
他们有一个共同点，那就是它们是一种时间现象。
它们只存在于一个点云中并且在下一个点中消失。
我附上了试飞的视频。
您可以忽略所有彩色标记，对于这种情况，重要的是pointcloud的可视化。
我们在一棵高约4米的树上飞来飞去。
没有其他障碍存在，并且无人机右侧的所有较小的点群都对应于所提到的现象。
你知道它来自哪里吗？
你认为我需要改变任何参数吗？
任何帮助都非常感谢     
出2018-09-19_14.28.45.mp4
4.6 MB      
rs_depthcloud.launch.zip
1.8 K.



以下为原文

Hello,

I'm using the D435 camera for obstacle avoidance on a drone. The drone has 3 cameras mounted. An I use launch the RS without pointcloud but launch a separate depth_imag_proc node to get an xyz pointcloud from the cameras.
I attached the launch file so you see what parameters are used. Also I set the visual preset to HIGH_ACCURACY for all cameras.

Now the problem is, that objects/spots appear in the pointcloud where there are none. Those spots do not look like the average noise to me, as they are really small point clusters and not just random noise. One thing they have in common is, that they are a temporal phenomenon. They only exist in one pointcloud and are gone in the next. I attached a video from a test flight. You can ignore all the colored markers, important for this case is the visualization of the pointcloud. We are flying around a single tree at a height of about 4 meters. There are no other obstacles present and all the smaller point clusters to the right of the drone correspond to the mentioned phenomenon.

Do you have any idea where that is coming from? Do you think I need to change any of the parameters?

Any help is highly appreciated

•   out-2018-09-19_14.28.45.mp4 4.6 MB
•   rs_depthcloud.launch.zip 1.8 K