Origin: Recently, I have been learning orb-slam3. Running orb-slam3 rgbd in ros requires color image and depth image topics. I chose Orbi Zhongguang’s astra pro depth camera, which can publish color and depth topics in noetic, but it publishes The color and depth topics are mirror images of each other by default, and the images loaded into orb-slam3 are very floating. I think it has something to do with the mirror images of these two topics.
source ~/ros1_ws/devel/setup.bash
roslaunch astra_camera astra_pro.launch start the camera
See the image below from left to right.
open terminal
rosservice call /camera/set_depth_mirror "{data: true}" //can set mirror for depth map
rosservice call /camera/set_uvc_mirror "{data: true}" //can set mirror image for color image
The conclusion is very simple. In order to find this conclusion, it took more than a week. Opencv cv_bridge has learned the iron shoes.