Out of range error with structured light sensor processor

[KirillMouraviev]

Hi,
I tried to launch GEM on RGB-D input with structured light sensor processor and faced with "out of range" error:

My sensor processor config is as follows:

sensor_processor/type: structured_light
sensor_processor/cutoff_min_depth: 0.2
sensor_processor/cutoff_max_depth: 3.25
sensor_processor/normal_factor_a: 0.000611
sensor_processor/normal_factor_b:  0.003587
sensor_processor/normal_factor_c: 0.3515
sensor_processor/normal_factor_d: 0
sensor_processor/normal_factor_e: 1
sensor_processor/lateral_factor: 0.01576

Analyzing the code, I have found the reason for this error. It occurs because readcomputerparam function of SensorProcessorBase class takes params such as min_radius, beam_constant, and beam_angle (seem like params related to laser sensors only).

However, readParameters functions in SensorProcessorBase class and StructuredLightSensorProcessor class do not read these parameters.

Could you say, what is the best way to fix this bug and run GEM on RGB-D input data?

[MaverickPeter]

@KirillMouraviev Hi! The easiest way is to lose some accuracy and just use the lidar params on RGB-D input data. This open-sourced version doesn't contain the RGB-D processor and params. We'll later modify and update our repo.

[tao19960404]

@KirillMouraviev你好！最简单的方法是损失一些精度，只在 RGB-D 输入数据上使用激光雷达参数。此开源版本不包含 RGB-D 处理器和参数。稍后我们将修改和更新存储库。

您好， RGB-D相机使用激光雷达参数应该如何设置啊

[MaverickPeter]

@tao19960404 RGB-D 相机使用过程中最容易出现的问题是坐标系，相机坐标系是z轴朝前，请转换到和激光坐标系一致的z朝上的坐标系后才能正常使用