D455 URDF about realsense-ros HOT 6 CLOSED

Hi @anath93 The origin of depth is the center-line of the left infrared sensor. The physical position of the RGB sensor can differ though depending on the camera model.

For example, on the D415 model the RGB sensor is on the right end of the front of the camera, and on D455 it is near to the center of the camera's front. The left infrared sensor on D455 is on the right end.

So the axes on the end of the camera in your image above represent the depth origin on D455.

from realsense-ros.

@MartyG-RealSense Is this red circled the origin for adding URDF ?

from realsense-ros.

The circled sensor is the D455's RGB sensor. camera_link is the left infrared sensor (on the end of the camera right-side on D455).

from realsense-ros.

@MartyG-RealSense Thank you for confirming that, so this is below

Is it the middle of the camera or is there any offset from the glass ?

from realsense-ros.

In the D455 URDF file, the origin of the mesh is stated as being between the two infrared camera axes. As the right infrared sensor is on the left end, that position would likely correspond to the camera center.

https://github.com/IntelRealSense/realsense-ros/blob/ros2-development/realsense2_description/urdf/_d455.urdf.xacro#L76

from realsense-ros.

@MartyG-RealSense Thank you !

from realsense-ros.